Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study
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In this article, the robustness of each controller when different disturbances are considered is compared with an actual underactuated manipulator robot with 3 degrees of freedom, of which joints can be configured as active or passive ones.Abstract:
and µ-synthesis, plus computed torque method. These controllers are applied in an actual underactuated manipulator robot with 3 degrees of freedom, of which joints can be configured as active or passive ones. The study performed in this paper compares the robustness of each controller when different disturbances are considered.read more
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References
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TL;DR: This paper reviewed the history of the relationship between robust control and optimal control and H-infinity theory and concluded that robust control has become thoroughly mainstream, and robust control methods permeate robust control theory.
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Introduction to Robotics mechanics and Control
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
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State-space solutions to standard H/sub 2/ and H/sub infinity / control problems
TL;DR: In this article, simple state-space formulas are derived for all controllers solving the following standard H/sub infinity / problem: for a given number gamma > 0, find all controllers such that the H/ sub infinity / norm of the closed-loop transfer function is (strictly) less than gamma.
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Essentials of Robust Control
Kemin Zhou,John Doyle +1 more
TL;DR: In this article, the authors introduce linear algebraic Riccati Equations and linear systems with Ha spaces and balance model reduction, and Ha Loop Shaping, and Controller Reduction.