Nonlinear \(\mathcal H_{\infty}\)-control of nonsmooth time-varying systems with application to friction mechanical manipulators
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.
scientific article; zbMATH DE number 1965010
scientific article