Disturbance attenuation and trajectory tracking via a reduced-order output feedback controller for robot manipulators
DOI10.1016/S0005-1098(98)80007-1zbMath0934.93016OpenAlexW2137930264MaRDI QIDQ1294994
M. F. Khelfi, Michel Zasadzinski, Edouard Richard, Mohamed Darouach
Publication date: 19 December 1999
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/s0005-1098(98)80007-1
disturbance attenuationalgebraic Riccati inequalitiestrajectory trackingoutput feedback controllerreduced orderrigid robot manipulatorsemi-global asymptotic stability
Feedback control (93B52) (H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85) System structure simplification (93B11)
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