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Application of H-infinity theory to robot manipulator control

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2 Author(s)
Stout, W.L. ; Dept. of Electr. Eng., Wichita State Univ., KS, USA ; Sawan, M.E.

The feasibility of H-infinity control theory for robot manipulator control is investigated. Given a model of manipulator dynamics, a control methodology is developed which utilizes an inner loop linearizing decoupling feedback control and an H-infinity outer loop compensator. A methodology for handling model simplifications in the linearizing feedback loop is also developed. An example control design is presented along with simulation results. Robust tracking of trajectories is shown, given bounds on model parameters

Published in:

Control Applications, 1992., First IEEE Conference on

Date of Conference:

13-16 Sep 1992