Decoupling property of full Information H∞ control and its application to mechanical systems

Author

Suzuki, Ryo ; Tani, Motoaki ; Ikemoto, Makoto ; Fujiki, Noriaki ; Kobayashi, Nao

Author_Institution

Dept. of Robotics, Kanazawa Inst. of Technol., Ishikawa

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

734

Lastpage

739

Abstract

In this paper, a limiting property of full information H_infin control is discussed. Existence of a stabilizing solution to the control problem is shown, and limiting behaviors, i.e., disturbance attenuation property and decoupling property, of the closed-loop system are proposed. Moreover, the relationship with limiting properties of LQ control is also mentioned. To confirm effectiveness of the proposed limiting property of full information H _infin control, the paper gives experimental results on decoupling control of a 2-link robot manipulator

Keywords

H^infin control; closed loop systems; linear quadratic control; manipulators; 2-link robot manipulator; H_infin control; LQ control; closed-loop system; decoupling control; mechanical systems; Attenuation; Control systems; Feedback; Manipulators; Mechanical factors; Mechanical systems; Mechanical variables measurement; Riccati equations; Robots; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Conference_Location

Munich

Print_ISBN

0-7803-9797-5

Electronic_ISBN

0-7803-9797-5

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4776737

Filename

4776737