Global H∞ control design for tracking control of robot manipulators

L. Acho; Y. Orlov; L. Aguilar

Global H_∞ control design for tracking control of robot manipulators

Título traducido de la contribución: Diseño global de control H-infinito para el control de seguimiento de manipuladores de robots

L. Acho, Y. Orlov, L. Aguilar

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Producción científica: Contribución a una revista › Artículo de la conferencia › revisión exhaustiva

3 Citas (Scopus)

Resumen

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.

Título traducido de la contribución	Diseño global de control H-infinito para el control de seguimiento de manipuladores de robots
Idioma original	Inglés
Páginas (desde-hasta)	3986-3990
Número de páginas	5
Publicación	Proceedings of the American Control Conference
Volumen	5
Estado	Publicada - 2002
Evento	2002 American Control Conference - Anchorage, AK, Estados Unidos Duración: 8 may. 2002 → 10 may. 2002

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title = "Global H∞ control design for tracking control of robot manipulators",

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.",

author = "L. Acho and Y. Orlov and L. Aguilar",

year = "2002",

language = "Ingl{\'e}s",

volume = "5",

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journal = "Proceedings of the American Control Conference",

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TY - JOUR

T1 - Global H∞ control design for tracking control of robot manipulators

AU - Acho, L.

AU - Orlov, Y.

AU - Aguilar, L.

PY - 2002

Y1 - 2002

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0036056227&partnerID=8YFLogxK

M3 - Artículo de la conferencia

AN - SCOPUS:0036056227

SN - 0743-1619

VL - 5

SP - 3986

EP - 3990

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

T2 - 2002 American Control Conference

Y2 - 8 May 2002 through 10 May 2002

ER -

Global H∞ control design for tracking control of robot manipulators

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Global H_∞ control design for tracking control of robot manipulators