Analysis and synthesis of global nonlinear \(\mathcal{H}_{\infty}\) controller for robot manipulators
type: Item
instance of: scholarly article
title: Analysis and synthesis of global nonlinear \(\mathcal{H}_{\infty}\) controller for robot manipulators
zbMATH Open document ID: 1394.93204
DOI: 10.1155/2015/410873
author: Carlos Alberto Chavez Guzmán
author: Luis Tupak Aguilar Bustos
author: Jován Oseas Mérida Rubio
published in: Mathematical Problems in Engineering
publication date: 2018-08-27T00:00:00Z
review text: Summary: The \(\mathcal{H}_{\infty}\) regulation problem for robot manipulators using gravitational force compensation or precompensation has been solved locally while global asymptotical stability (or global stability) has been demonstrated using other methodologies. A solution to the global nonlinear \(\mathcal{H}_{\infty}\) regulation problem for \(l\)-degrees-of-freedom (\(l\)-DOF) robot manipulators, affected by external disturbances, is presented. We showed that the Hamilton-Jacobi-Isaacs (HJI) inequality, inherited in the solution of the \(\mathcal{H}_{\infty}\) control problem, is satisfied by defining a strict Lyapunov function. The performance issues of the nonlinear \(\mathcal{H}_{\infty}\) regulator are illustrated in experimental and simulation studies made for a 3-DOF rigid links robot manipulator.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93B36
zbMATH DE Number: 6926292
Wikidata QID: Q59118508
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2015/410873
OpenAlex ID: W2066202110
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description: scientific article; zbMATH DE number 6926292