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Analytic nonlinear H inverse-optimal control for Euler-Lagrange system

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2 Author(s)
Jonghoon Park ; ARC, Pohang Inst. of Sci. & Technol., South Korea ; Wan Kyun Chung

The success in nonlinear H control design is applied to the control of Euler-Lagrange systems. It is known that the existence of H optimal control depends on solvability of the so-called Hamilton-Jacobi-Isaacs H partial differential equation. In the article, the associated HJI equation for nonlinear H inverse-optimal control problem for a Euler-Lagrangian system is solved analytically. The resulting control is referred to as the reference error feedback, which takes conventional PID controller form. Consequently, robust motion control can be designed for robot manipulators using L2-gain attenuation from exogenous disturbance and parametric error

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IEEE Transactions on Robotics and Automation  (Volume:16 ,  Issue: 6 )