HINF control of a robot manipulator using a linear parameter varying representation

Toru Namerikawa, Masayuki Fujita, Fumio Matsumura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the American Control Conference
PublisherIEEE
Pages111-112
Number of pages2
Volume1
Publication statusPublished - 1997
Externally publishedYes
EventProceedings of the 1997 American Control Conference. Part 3 (of 6) - Albuquerque, NM, USA
Duration: 1997 Jun 41997 Jun 6

Other

OtherProceedings of the 1997 American Control Conference. Part 3 (of 6)
CityAlbuquerque, NM, USA
Period97/6/497/6/6

Fingerprint

Robust control
Manipulators
Robots
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Namerikawa, T., Fujita, M., & Matsumura, F. (1997). HINF control of a robot manipulator using a linear parameter varying representation. In Proceedings of the American Control Conference (Vol. 1, pp. 111-112). IEEE.

HINF control of a robot manipulator using a linear parameter varying representation. / Namerikawa, Toru; Fujita, Masayuki; Matsumura, Fumio.

Proceedings of the American Control Conference. Vol. 1 IEEE, 1997. p. 111-112.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Namerikawa, T, Fujita, M & Matsumura, F 1997, HINF control of a robot manipulator using a linear parameter varying representation. in Proceedings of the American Control Conference. vol. 1, IEEE, pp. 111-112, Proceedings of the 1997 American Control Conference. Part 3 (of 6), Albuquerque, NM, USA, 97/6/4.
Namerikawa T, Fujita M, Matsumura F. HINF control of a robot manipulator using a linear parameter varying representation. In Proceedings of the American Control Conference. Vol. 1. IEEE. 1997. p. 111-112
Namerikawa, Toru ; Fujita, Masayuki ; Matsumura, Fumio. / HINF control of a robot manipulator using a linear parameter varying representation. Proceedings of the American Control Conference. Vol. 1 IEEE, 1997. pp. 111-112
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