A nonlinear H∞ control design in robotic systems under parameter perturbation and external disturbance

DOI10.1080/00207179408923085zbMath0807.93018OpenAlexW2015724430MaRDI QIDQ4286541

Bor-Sen Chen, Jui-Hsuan Feng, Tzann-Shin Lee

Publication date: 2 March 1995

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179408923085

zbMATH Keywords

rigid robotic systemsstate feedback \(H_ \infty\) optimal disturbance attenuation

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Design techniques (robust design, computer-aided design, etc.) (93B51) (H^infty)-control (93B36) Synthesis problems (93B50)

Related Items (23)

Exponential stabilization of conservation systems with interior disturbance ⋮ Adaptive control in robotic systems with \(H^\infty\) tracking performance ⋮ Adaptive disturbance attenuation with global stability for rigid and elastic joint robots ⋮ A robust optimal control approach in the weighted Sobolev space for underactuated mechanical systems ⋮ A nonlinear H-infinity control method for multi-DOF robotic manipulators ⋮ A robust-adaptive fuzzy coverage control for robotic swarms ⋮ On the information transmission ability of nonlinear stochastic dynamic networks ⋮ Nonlinear \(\mathcal H_{\infty}\)-control of nonsmooth time-varying systems with application to friction mechanical manipulators ⋮ Neural network based robust hybrid control for robotic system: an \(H_\infty\) approach ⋮ Adaptive fuzzy formation control for a swarm of nonholonomic differentially driven vehicles. An \(\mathcal H^{\infty}\)-based robus control design ⋮ A robust H ^∞ model reference tracking design for non-holonomic mechanical control systems ⋮ NonlinearH∞-control under unilateral constraints ⋮ Tracking control of flexible joint manipulators using only position measurements ⋮ Fuzzy adaptive control of multivariable nonlinear systems ⋮ Adaptive tracking control of uncertain Euler-Lagrange systems subject to external disturbances ⋮ Non-smooth -position control of mechanical manipulators with frictional joints ⋮ Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators ⋮ \(H_{\infty}\) variable universe adaptive fuzzy control for chaotic system ⋮ Path tracking of a UAV via an underactuated \({\mathcal H}_\infty\) control strategy ⋮ Almost sure stability of second‐order nonlinear stochastic system with Lévy noise via sliding mode control ⋮ Robust recursive linear quadratic regulator for wheeled mobile robots based on optical motion capture cameras ⋮ Trajectory tracking control of Euler-Lagrange systems with ISS-like robustness to actuator noises ⋮ An improved iterative computational approach to the solution of the Hamilton–Jacobi equation in optimal control problems of affine nonlinear systems with application

Cites Work

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• Dynamic noncooperative game theory
• On a state space approach to nonlinear \(H_ \infty\) control
• The Application of Model-Referenced Adaptive Control to Robotic Manipulators
• Adaptive linear controller for robotic manipulators
• State-space solutions to standard H/sub 2/ and H/sub infinity / control problems
• A game-theoretic approach to a finite-time disturbance attenuation problem
• A Game Theoretic Approach to $\mathcal{H}^\infty $ Control for Time-Varying Systems
• Disturbance attenuation and H/sub infinity /-control via measurement feedback in nonlinear systems
• The structure of decoupled non-linear systems
• An Approximation Theory of Optimal Control for Trainable Manipulators
• Quadratic optimization of motion coordination and control

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