Nonlinear H∞ disturbance attenuation for robots with flexible joints

DOI10.1002/RNC.4590050411MaRDI QIDQ4847426zbMATH OpenOpenAlexFDO

Authors P. Tomei

Publication date 20 September 1995

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.4590050411

zbMATH Keywords

disturbance attenuationflexible jointsrobotstracking

Mathematics Subject Classification ID

(H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85) Model systems in control theory (93C99)

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Cited in

(11)

• Adaptive disturbance attenuation with global stability for rigid and elastic joint robots
• On nonlinear control of Euler-Lagrange systems: Disturbance attenuation properties
• Nonlinear \(\mathcal H_{\infty}\)-control of nonsmooth time-varying systems with application to friction mechanical manipulators
• Trajectory tracking of flexible joint manipulators actuated by DC-motors under random disturbances
• A nonlinear H_∞ control design in robotic systems under parameter perturbation and external disturbance
• Tracking control of flexible joint robots with uncertain parameters and disturbances
• Active Damping of a Large Flexible Manipulator With a Short-Reach Robot
• H/sub ∞/ tuning for task-space feedback control of robot with uncertain Jacobian matrix
• Non-smooth -position control of mechanical manipulators with frictional joints
• Tracking control with disturbance attenuation for robot manipulators
• Order reduction of control and estimation problems for flexible joint manipulator

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