Bringing Nonlinear H-infinity Optimality to Robot Controllers

Cited 24 time in webofscience Cited 0 time in scopus
  • Hit : 126
  • Download : 0
This paper proposes a framework called nonlinear robust internal-loop compensator that enables us to bring nonlinear H-infinity optimality to robot controllers in a unified and simple way. Using the framework, a controller designed for the nominal plant can achieve additional robustness by simply adding PID-type auxiliary input to the original control law. Robust performance is guaranteed by the nonlinear H-infinity optimality and robust stability is guaranteed by proving the extended disturbance input-to-state stability. Moreover, the framework preserves the passivity property of the original controller. Finally, the performance bound can be predicted and leads to the gain tuning rules. By virtue of the tuning rules, the performance can be tuned using only a single variable. The proposed method was validated through the simulations and experiments.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2015-06
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON ROBOTICS, v.31, no.3, pp.682 - 698

ISSN
1552-3098
DOI
10.1109/TRO.2015.2419871
URI
http://hdl.handle.net/10203/275903
Appears in Collection
EE-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 24 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0