Title :
ℋ2 decoupling control and its application with limiting properties to robot manipulator
Author :
Suzuki, Ryoichi ; Kobayashi, Nobuaki ; Kawashima, Mitsuki ; Fujita, Masayuki
Author_Institution :
Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol., Ishikawa, Japan
fDate :
31 Aug-4 Sep 1998
Abstract :
In this paper, a decoupling control for a nonminimum phase system is considered from a limiting form of a linear optimal regulator problem point of view. It is shown that an explicit relationship between the limiting properties by letting the weighting matrix of the output vector tend to infinity and a decoupling control. It also gives an experimental application to a robot manipulator to illustrate effectiveness on decoupling control with the limiting properties
Keywords :
linear quadratic control; manipulators; ℋ2 decoupling control; LQ optimal control; decoupling control; limiting properties; linear optimal regulator; multivariable systems; nonminimum phase system; output vector weighting matrix; robot manipulator; Control systems; Discrete time systems; Feedback; H infinity control; Manipulators; Mechanical systems; Optimal control; Regulators; Riccati equations; Robots;
Conference_Titel :
Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE
Conference_Location :
Aachen
Print_ISBN :
0-7803-4503-7
DOI :
10.1109/IECON.1998.722856
