抄録
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.
| 本文言語 | English |
|---|---|
| ページ | 489-492 |
| ページ数 | 4 |
| 出版ステータス | Published - 1996 12月 1 |
| 外部発表 | はい |
| イベント | Proceedings of the IEEE International Conference on Industrial Technology - Shanghai, China 継続期間: 1994 12月 5 → 1994 12月 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
- コンピュータ サイエンスの応用
- 電子工学および電気工学