Robust adaptive nonlinear H control for robot manipulators

Itzhak Levi, Nadav Berman, Amit Ailon

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2007 Mediterranean Conference on Control and Automation, MED
DOIs
StatePublished - 1 Dec 2007
Event2007 Mediterranean Conference on Control and Automation, MED - Athens, Greece
Duration: 27 Jul 200729 Jul 2007

Publication series

Name2007 Mediterranean Conference on Control and Automation, MED

Conference

Conference2007 Mediterranean Conference on Control and Automation, MED
Country/TerritoryGreece
CityAthens
Period27/07/0729/07/07

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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