Performance of linear decentralized H sub( infinity ) optimal control for industrial robotic manipulators

Industrial manipulators are under various limitations against high quality motion control, for example friction and dynamic uncertainties, and simple control structure. A robust linear PID motion controller, called the reference error feedback (REF), is proposed, which solves the nonlinear L sub(2)-...

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Bibliographic Details
Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 4; pp. 2825 - 2830
Main Authors Park, Jonghoon, Chung, Wankyun, Youm, Youngil
Format Journal Article
LanguageEnglish
Published 01.01.1999
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Summary:Industrial manipulators are under various limitations against high quality motion control, for example friction and dynamic uncertainties, and simple control structure. A robust linear PID motion controller, called the reference error feedback (REF), is proposed, which solves the nonlinear L sub(2)-gain attenuation control problem. Making use of the fact that the single parameter L sub(2)-gain gamma controls the performance and robustness, we propose a simple and stable method of tuning the controller called the 'square law'. The analytical results are verified through experiments of six degrees of freedom industrial manipulator.
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ISSN:1050-4729