• DocumentCode
    393868
  • Title

    Nonlinear adaptive H∞ control for robotic manipulators with motor dynamics

  • Author

    Miyasato, Yoshihiko

  • Author_Institution
    Inst. of Stat. Math., Tokyo, Japan
  • Volume
    3
  • fYear
    2002
  • fDate
    5-7 Aug. 2002
  • Firstpage
    1940
  • Abstract
    A new class of adaptive nonlinear H∞ control for electrically-driven robotic manipulators is proposed. Those control schemes are derived as solutions of particular nonlinear H∞ control problems, where both disturbances and estimation errors of unknown system parameters are regarded as exogenous disturbances to the processes, and the L2 gains from those uncertainties to generalized outputs are prescribed explicitly. The motor dynamics are also considered to synthesize motor terminal voltages as control inputs.
  • Keywords
    H∞ control; adaptive control; industrial manipulators; nonlinear control systems; estimation errors; motor dynamics; nonlinear adaptive H∞ control; robotic manipulators; system parameters; Adaptive control; Control system synthesis; Control systems; Estimation error; Manipulators; Nonlinear control systems; Nonlinear dynamical systems; Programmable control; Robot control; Uncertainty;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    SICE 2002. Proceedings of the 41st SICE Annual Conference
  • Print_ISBN
    0-7803-7631-5
  • Type

    conf

  • DOI
    10.1109/SICE.2002.1196626
  • Filename
    1196626
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=393868