Nonlinear H∞ control with PID structure for robot manipulators

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 35, Issue 1, 2002, Pages 407-412

  Ortega, M G ^a   Rubio, F R ^a   Roman M ^a  

^a UNIVERSIDAD DE SEVILLA   (Spain)

Author keywords

Disturbance rejection; Nonlinear H control; Robot manipulators

Indexed keywords

AUTOMATION; DISTURBANCE REJECTION; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; MODULAR ROBOTS; ROBOT APPLICATIONS;

ATTENUATION LEVELS; COMPUTED TORQUE CONTROL; CONSTANT WEIGHT; COST VARIABLES; INTEGRAL TERMS; NONLINEAR H; PERSISTENT DISTURBANCES; ROBOT MANIPULATOR;

PROPORTIONAL CONTROL SYSTEMS;

EID: 84945570793     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20020721-6-es-1901.00880     Document Type: Conference Paper

References (9)

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