TY - JOUR
T1 - Analysis and synthesis of global nonlinear H ∞ controller for robot manipulators
AU - Chavez Guzmán, Carlos Alberto
AU - Aguilar Bustos, Luis Tupak
AU - Mérida Rubio, Jován Oseas
N1 - Publisher Copyright:
© 2015 Carlos Alberto Chavez Guzmán et al.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84928485536&partnerID=8YFLogxK
U2 - 10.1155/2015/410873
DO - 10.1155/2015/410873
M3 - Artículo
SN - 1024-123X
VL - 2015
JO - Mathematical Problems in Engineering
JF - Mathematical Problems in Engineering
M1 - 410873
ER -