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H tuning for task-space feedback control of robot with uncertain Jacobian matrix

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4 Author(s)
C. C. Cheah ; Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore ; S. Kawamura ; S. Arimoto ; K. Lee

The H tuning problem for task-space feedback control of a robot with uncertain kinematics and Jacobian matrix from joint space to task space is formulated and solved. H tuning methods are presented for two task-space feedback controllers when the systems are subject to external disturbance. It is shown that the conditions for the establishment of H tuning can be obtained in simple forms without solving the Hamilton-Jacobi inequalities even in the presence of kinematics uncertainty

Published in:

IEEE Transactions on Automatic Control  (Volume:46 ,  Issue: 8 )