Robustness improvement of a nonlinear H∞ controller for robot manipulators via saturation functions

Journal of Robotic Systems

Volumn 22, Issue 8, 2005, Pages 421-437

  Ortega, Manuel G ^a   Vargas, Manuel ^a   Vivas, Carlos ^a   Rubio, Francisco R ^a  

^a UNIVERSIDAD DE SEVILLA   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CLOSED LOOP CONTROL SYSTEMS; END EFFECTORS; NONLINEAR CONTROL SYSTEMS; NONLINEAR EQUATIONS; OPTIMAL CONTROL SYSTEMS; POSITION CONTROL; ROBOTICS; ROBUSTNESS (CONTROL SYSTEMS); THREE TERM CONTROL SYSTEMS; TORQUE CONTROL; VELOCITY CONTROL;

NONLINEAR OPTIMAL CONTROL; SATURATION FUNCTIONS;

MANIPULATORS;

EID: 25444508927     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/rob.20076     Document Type: Article

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