By Topic

Structured singular values of robotic manipulators and quantitative analysis of passivity based control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Satoru Sakai ; Department of Electrical and Mechanical Engineering, Chiba University, Yayoi, Inage, Japan.

This paper gives an exact and explicit expression of the structured singular value for robotic manipulators with a passivity based control in port-controlled Hamiltonian form, even though it is NOT possible to give the exact or explicit structured singular value for general systems. First, we focus on dynamics with endlink mass perturbation after the settling time. Second, we derive the exact and explicit structured singular value for manipulators by using structural properties of the dynamics. The derived structured singular value is nothing but the structured singular value of manipulators without control because the passivity based control preserves the Hamiltonian structure. Furthermore, based on the derived structured singular value, we quantitatively analyze the robust stability and performance of robotic manipulators with the passivity based control

Published in:

Proceedings of the 45th IEEE Conference on Decision and Control

Date of Conference:

13-15 Dec. 2006