Nonlinear \(\mathcal H_{\infty}\)-control of nonsmooth time-varying systems with application to friction mechanical manipulators (Q1400931)
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scientific article; zbMATH DE number 1965010
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Nonlinear \(\mathcal H_{\infty}\)-control of nonsmooth time-varying systems with application to friction mechanical manipulators |
scientific article; zbMATH DE number 1965010 |
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Nonlinear \(\mathcal H_{\infty}\)-control of nonsmooth time-varying systems with application to friction mechanical manipulators (English)
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17 August 2003
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The nonlinear \(H_\infty\)-control problem is extended to nonsmooth time-varying systems and then applied to a tracking control problem for a mechanical manipulator with friction. The problem is reduced to the existence of suitable solutions to differential Riccati equations that appear when solving the \(H_\infty\)-control problem for the linearized system.
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nonlinear \(H_\infty\)-control problem
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nonsmooth time-varying system
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differential Riccati equation
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mechanical manipulator with friction
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linearization
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