H∞ tuning for task-space feedback control of robot with uncertain Jacobian matrix

IEEE Transactions on Automatic Control

Volumn 46, Issue 8, 2001, Pages 1313-1318

  Cheah, C C ^a   Kawamura, S ^b   Arimoto, S ^b   Lee, K ^b  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

H control; Jacobian matrix; Position control; Robot

Indexed keywords

FEEDBACK CONTROL; KINEMATICS; MATRIX ALGEBRA; POSITION CONTROL; UNCERTAIN SYSTEMS;

JACOBIAN MATRIX;

ROBOTS;

EID: 0035417557     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.940941     Document Type: Article

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