Abstract
In this paper, we present a robust control for a flexible-joint robot manipulator using linear parameter varying representation. The robot manipulator dynamics can be brought to a quasi linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear at system whose dynamics depend on an exogenous variable which can be measured upon system operation. In this case, the scheduling variables are the joint angles q. which are state variables. Using a quasi-LPV form, we design a robust controller by μ-synthesis to achieve robust performance specification.
| Original language | English |
|---|---|
| Pages | 489-492 |
| Number of pages | 4 |
| Publication status | Published - 1996 Dec 1 |
| Externally published | Yes |
| Event | Proceedings of the IEEE International Conference on Industrial Technology - Shanghai, China Duration: 1994 Dec 5 → 1994 Dec 9 |
Other
| Other | Proceedings of the IEEE International Conference on Industrial Technology |
|---|---|
| City | Shanghai, China |
| Period | 94/12/5 → 94/12/9 |
ASJC Scopus subject areas
- Computer Science Applications
- Electrical and Electronic Engineering