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Performance of linear decentralized H optimal control for industrial robotic manipulators

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3 Author(s)
Jonghoon Park ; Dept. of Mech. Eng., Pohang Inst. of Sci. & Technol., South Korea ; Wankyun Chung ; Youngil Youm

Industrial manipulators are under various limitations against high quality motion control, for example friction and dynamic uncertainties, and simple control structure. A robust linear PID motion controller, called the reference error feedback, is proposed, which solves the nonlinear L2-gain attenuation control problem. Making use of the fact that the single parameter L2-gain γ controls the performance and robustness, we propose a simple and stable method of tuning the controller called the “square law”. The analytical results are verified through experiments of six degrees of freedom industrial manipulator

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference: