Robustness improvement of a nonlinearH∞ controller for robot manipulators via saturation functions

DOI10.1002/rob.20076zbMath1133.70316OpenAlexW4238581084MaRDI QIDQ3423837

Carlos Vivas, Francisco R. Rubio, Manuel G. Ortega, Manuel Vargas

Publication date: 15 February 2007

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.20076

Mathematics Subject Classification ID

(H^infty)-control (93B36) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (5)

Nonlinear \(L_{2}\) control of a laboratory helicopter with variable speed rotors ⋮ A nonlinear H-infinity control method for multi-DOF robotic manipulators ⋮ An integral predictive/nonlinear \(\mathcal H_{\infty}\) control structure for a quadrotor helicopter ⋮ Path tracking of a UAV via an underactuated \({\mathcal H}_\infty\) control strategy ⋮ Robust Nonlinear Control for Path Tracking of a Quad-Rotor Helicopter

Cites Work

• Learning Control of Robot Manipulators
• Extending H^∞ Control to Nonlinear Systems: Control of Nonlinear Systems to Achieve Performance Objectives
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