Decentralized LPV gain-scheduled PD control of a robotic manipulator

Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009

Volumn , Issue PART B, 2010, Pages 1713-1720

  Abbas, H ^a   Hashemi, S M ^a   Werner, H ^a  

^a HAMBURG UNIVERSITY OF TECHNOLOGY   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); DISTURBANCE REJECTION; FLEXIBLE MANIPULATORS; INVERSE PROBLEMS; LINEAR TRANSFORMATIONS; LYAPUNOV FUNCTIONS; MANIPULATORS; MATHEMATICAL TRANSFORMATIONS; ROBOTICS; TORQUE CONTROL;

BILINEAR MATRIX INEQUALITY PROBLEMS; COMPUTED TORQUE CONTROL; CONTROLLER SYNTHESIS; LINEAR FRACTIONAL TRANSFORMATIONS; LINEAR PARAMETER VARYING MODELS; PARAMETER DEPENDENT LYAPUNOV FUNCTION; TRACKING PERFORMANCE; TWO DEGREES OF FREEDOM;

CONTROLLERS;

EID: 77953736568     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DSCC2009-2651     Document Type: Conference Paper

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