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
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;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680755
