Analysis and Synthesis of Global Nonlinear H ∞ Controller for Robot Manipulators
Joint Authors
Chavez Guzmán, Carlos Alberto
Aguilar Bustos, Luis Tupak
Mérida Rubio, Jován Oseas
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-04-05
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
The H ∞ regulation problem for robot manipulators using gravitational force compensation or precompensation has been solved locally while global asymptotical stability (or global stability) has been demonstrated using other methodologies.
A solution to the global nonlinear H ∞ regulation problem for l -degrees-of-freedom ( l -DOF) robot manipulators, affected by external disturbances, is presented.
We showed that the Hamilton-Jacobi-Isaacs (HJI) inequality, inherited in the solution of the H ∞ control problem, is satisfied by defining a strict Lyapunov function.
The performance issues of the nonlinear H ∞ regulator are illustrated in experimental and simulation studies made for a 3-DOF rigid links robot manipulator.
American Psychological Association (APA)
Chavez Guzmán, Carlos Alberto& Aguilar Bustos, Luis Tupak& Mérida Rubio, Jován Oseas. 2015. Analysis and Synthesis of Global Nonlinear H ∞ Controller for Robot Manipulators. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1073775
Modern Language Association (MLA)
Chavez Guzmán, Carlos Alberto…[et al.]. Analysis and Synthesis of Global Nonlinear H ∞ Controller for Robot Manipulators. Mathematical Problems in Engineering No. 2015 (2015), pp.1-9.
https://search.emarefa.net/detail/BIM-1073775
American Medical Association (AMA)
Chavez Guzmán, Carlos Alberto& Aguilar Bustos, Luis Tupak& Mérida Rubio, Jován Oseas. Analysis and Synthesis of Global Nonlinear H ∞ Controller for Robot Manipulators. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1073775
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073775