TY - GEN
T1 - Robust adaptive nonlinear H∞ control for robot manipulators
AU - Levi, Itzhak
AU - Berman, Nadav
AU - Ailon, Amit
PY - 2007/12/1
Y1 - 2007/12/1
N2 - This paper provides a solution to the tracking problem of a robotic system in terms of a solution to a certain Linear Matrix Inequalities (LMIs), and in the presence of both exogenous disturbance and model uncertainties. Although this problem has been investigated extensively and numerous results are now available, the contribution of this paper is in its unique approach which consists of transforming the nonlinear underlying problem into a linear one, and thus achieving a simple and elegant solution by means of a linear H ∞ control theory.
AB - This paper provides a solution to the tracking problem of a robotic system in terms of a solution to a certain Linear Matrix Inequalities (LMIs), and in the presence of both exogenous disturbance and model uncertainties. Although this problem has been investigated extensively and numerous results are now available, the contribution of this paper is in its unique approach which consists of transforming the nonlinear underlying problem into a linear one, and thus achieving a simple and elegant solution by means of a linear H ∞ control theory.
UR - http://www.scopus.com/inward/record.url?scp=50249146292&partnerID=8YFLogxK
U2 - 10.1109/MED.2007.4433948
DO - 10.1109/MED.2007.4433948
M3 - Conference contribution
AN - SCOPUS:50249146292
SN - 142441282X
SN - 9781424412822
T3 - 2007 Mediterranean Conference on Control and Automation, MED
BT - 2007 Mediterranean Conference on Control and Automation, MED
T2 - 2007 Mediterranean Conference on Control and Automation, MED
Y2 - 27 July 2007 through 29 July 2007
ER -