Title :
Global H∞ control design for tracking control of robot manipulators
Author :
Acho, L. ; Orlov, Y. ; Aguilar, L.
Author_Institution :
Centro de Investigacion y Desarrollo de Tecnologia Digital, Tijuana, Mexico
Abstract :
Global H∞-controller synthesis is developed for tracking control of robot manipulators. The synthesis of the controller is based on Lyapunov function instead of solving the HJI equation. Theoretical result is supported by simulation of the H∞ tracking control of a two link robot manipulator.
Keywords :
H∞ control; Lyapunov methods; control system synthesis; manipulators; tracking; H∞ tracking control simulation; Lyapunov function; controller synthesis; global H∞ control design; robot manipulators; tracking control; two link robot manipulator; Control design; Control systems; Differential equations; Lyapunov method; Manipulators; Nonlinear control systems; Nonlinear equations; Riccati equations; Robot control; State feedback;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1024552
