H∞based robust torque control of harmonic drive systems

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 123, Issue 3, 2001, Pages 338-345

  Taghirad, H D ^a   Belanger P R ^b  

^a K N TOOSI UNIVERSITY OF TECHNOLOGY   (Iran)

^b MCGILL UNIVERSITY   (Canada)

Author keywords

Empirical Linear Model; Friction compensation; H Control; Harmonic drive; Multiplicative uncertainty; Nonlinear system; Robust control; Torque control; Torque sensing

Indexed keywords

EID: 0011970859     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.1376714     Document Type: Article

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