Control of underactuated manipulators using nonlinear H∞ techniques

Proceedings of the IEEE Conference on Decision and Control

Volumn 2, Issue , 2002, Pages 2032-2037

  Siqueira, Adriano A G ^a   Terra, Marco H ^a  

^a UNIVERSITY OF SÃO PAULO   (Brazil)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ADAPTIVE CONTROL SYSTEMS; CONTROL NONLINEARITIES; GAME THEORY; LINEARIZATION; MANIPULATORS; MATRIX ALGEBRA; RICCATI EQUATIONS; UNIVERSAL JOINTS;

LINEAR MATRIX INEQUALITIES; LINEAR PARAMETER VARYING TECHNIQUE; RICCATI INEQUALITIES; UNDERACTUATED MANIPULATORS;

NONLINEAR CONTROL SYSTEMS;

EID: 0036990402     PISSN: 01912216     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

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2. M. Bergerman. Dynamics and control of under-actuated manipulators, PhD Thesis. Carnegie Mellon University, Pittsburgh, 1996.
3. ∞ control design in robotic systems under parameter perturbation and external disturbance. International Journal of Control, 59(2):439-461, 1994.
4. ∞ nonlinear control by J. C. Doyle, Caltech, IEEE International Conference on Decision and Control, Tampa, Florida, USA, 1998.
5. R. Johansson, Quadratic optimization of motion coordination and control. IEEE Transactions on Automatic Control, 35(11):1197-1208, 1990.
6. M. H. Terra, A. A. G. Siqueira, and M. Bergerman. Underactuated manipulator robot control via linear matrix inequalities. In IEEE International Conference on Decision and Control, Phoenix, Arizona, USA, 1999.
7. 2-norm control for lpv systems with bounded parameter variation rates. International Journal of Robust and Nonlinear Control, 6:983-998, 1996.