DocumentCode
324139
Title
Analytic nonlinear H∞ optimal control for robotic manipulators
Author
Park, Jonghoon ; Chung, Wankyun ; Youm, Youngil
Author_Institution
Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
2709
Abstract
Recent successes in nonlinear H∞ control design has been applied to control of robot manipulator systems. It is known that the existence of H∞ optimal control reduces to solvability of the Hamilton-Jacobi-Isaacs partial differential equation, which is very difficult to solve. In this article, a robust control in the sense of L2-gain attenuation from an external disturbance and one due to model uncertainties is designed for a class of Euler-Lagrange system based on a class of analytic solution to the associated Hamilton-Jacobi-Isaacs equation
Keywords
Jacobian matrices; manipulators; nonlinear control systems; optimal control; partial differential equations; robust control; uncertain systems; Euler-Lagrange system; Hamilton-Jacobi-Isaacs partial differential equation; L2-gain attenuation; analytic nonlinear H∞ optimal control; external disturbance; model uncertainties; nonlinear H∞ control design; robotic manipulators; Attenuation; Control design; Control systems; Manipulators; Nonlinear control systems; Optimal control; Partial differential equations; Robot control; Robot sensing systems; Robust control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680755
Filename
680755
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