Abstract
This paper deals with a robust control scheme for a flexible-joint robot manipulator using a linear parameter varying representation. We show this system can be brought to a quasi linear parameter varying (LPV) form by a state transformation. Using this form, we design a controller by μ-synthesis to achieve robust performance.
| Original language | English |
|---|---|
| Pages (from-to) | 111-112 |
| Number of pages | 2 |
| Journal | Proceedings of the American Control Conference |
| Volume | 1 |
| Publication status | Published - 1997 Jan 1 |
| Externally published | Yes |
| Event | Proceedings of the 1997 American Control Conference. Part 3 (of 6) - Albuquerque, NM, USA Duration: 1997 Jun 4 → 1997 Jun 6 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering