Abstract
Global H∞-controller synthesis is developed for tracking control of robot manipulators. The synthesis of the controller is based on Lyapunov function instead of solving the HJI equation. Theoretical result is supported by simu-lation of the H∞ tracking control of a two link robot manipulator.
| Translated title of the contribution | Diseño global de control H-infinito para el control de seguimiento de manipuladores de robots |
|---|---|
| Original language | English |
| Pages (from-to) | 3986-3990 |
| Number of pages | 5 |
| Journal | Proceedings of the American Control Conference |
| Volume | 5 |
| State | Published - 2002 |
| Event | 2002 American Control Conference - Anchorage, AK, United States Duration: 8 May 2002 → 10 May 2002 |