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

Toru Namerikawa, Masayuki Fujita, Fumio Matsumura

Research output: Contribution to journalConference articlepeer-review

4 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
Pages (from-to)111-112
Number of pages2
JournalProceedings of the American Control Conference
Volume1
Publication statusPublished - 1997 Jan 1
Externally publishedYes
EventProceedings of the 1997 American Control Conference. Part 3 (of 6) - Albuquerque, NM, USA
Duration: 1997 Jun 41997 Jun 6

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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