• DocumentCode
    329359
  • 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
  • Volume
    3
  • fYear
    1998
  • fDate
    31 Aug-4 Sep 1998
  • Firstpage
    1399
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/IECON.1998.722856
  • Filename
    722856
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=329359