Nonlinear H<FONT FACE=Symbol>¥</FONT> control for underactuated manipulators with robustness tests
نویسندگان
چکیده
منابع مشابه
Nonlinear H∞ Control for Underactuated Manipulators with Robustness Tests
In this paper, the model-based robotic control problem with disturbance attenuation (or robotic H∞ control problem), presented in Chen et all (1994), is extended to underactuated manipulators. The dynamic coupling between the links is used to control all manipulator’s free joints. A global explicit solution is found solving a minimax Bellman-Isaacs equation, generated via differential game theo...
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ژورنال
عنوان ژورنال: Sba: Controle & Automação Sociedade Brasileira de Automatica
سال: 2004
ISSN: 0103-1759
DOI: 10.1590/s0103-17592004000300009