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

Toru Namerikawa, Fumio Matsumura, Masayuki Fujita

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

3 Citations (Scopus)

Abstract

In this paper, we present a robust control for a flexible-joint robot manipulator using linear parameter varying representation. The robot manipulator dynamics can be brought to a quasi linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear at system whose dynamics depend on an exogenous variable which can be measured upon system operation. In this case, the scheduling variables are the joint angles q. which are state variables. Using a quasi-LPV form, we design a robust controller by μ-synthesis to achieve robust performance specification.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
Editors Anon
PublisherIEEE
Pages489-492
Number of pages4
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the IEEE International Conference on Industrial Technology - Shanghai, China
Duration: 1994 Dec 51994 Dec 9

Other

OtherProceedings of the IEEE International Conference on Industrial Technology
CityShanghai, China
Period94/12/594/12/9

Fingerprint

Robust control
Manipulators
Robots
Dynamical systems
Scheduling
Specifications
Controllers

ASJC Scopus subject areas

  • Software
  • Industrial and Manufacturing Engineering
  • Electronic, Optical and Magnetic Materials

Cite this

Namerikawa, T., Matsumura, F., & Fujita, M. (1996). Robust control of a robot manipulator using a linear parameter varying representation. In Anon (Ed.), Proceedings of the IEEE International Conference on Industrial Technology (pp. 489-492). IEEE.

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

Proceedings of the IEEE International Conference on Industrial Technology. ed. / Anon. IEEE, 1996. p. 489-492.

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

Namerikawa, T, Matsumura, F & Fujita, M 1996, Robust control of a robot manipulator using a linear parameter varying representation. in Anon (ed.), Proceedings of the IEEE International Conference on Industrial Technology. IEEE, pp. 489-492, Proceedings of the IEEE International Conference on Industrial Technology, Shanghai, China, 94/12/5.
Namerikawa T, Matsumura F, Fujita M. Robust control of a robot manipulator using a linear parameter varying representation. In Anon, editor, Proceedings of the IEEE International Conference on Industrial Technology. IEEE. 1996. p. 489-492
Namerikawa, Toru ; Matsumura, Fumio ; Fujita, Masayuki. / Robust control of a robot manipulator using a linear parameter varying representation. Proceedings of the IEEE International Conference on Industrial Technology. editor / Anon. IEEE, 1996. pp. 489-492
@inproceedings{518ce259fef140afb546264bb8dad213,
title = "Robust control of a robot manipulator using a linear parameter varying representation",
abstract = "In this paper, we present a robust control for a flexible-joint robot manipulator using linear parameter varying representation. The robot manipulator dynamics can be brought to a quasi linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear at system whose dynamics depend on an exogenous variable which can be measured upon system operation. In this case, the scheduling variables are the joint angles q. which are state variables. Using a quasi-LPV form, we design a robust controller by μ-synthesis to achieve robust performance specification.",
author = "Toru Namerikawa and Fumio Matsumura and Masayuki Fujita",
year = "1996",
language = "English",
pages = "489--492",
editor = "Anon",
booktitle = "Proceedings of the IEEE International Conference on Industrial Technology",
publisher = "IEEE",

}

TY - GEN

T1 - Robust control of a robot manipulator using a linear parameter varying representation

AU - Namerikawa, Toru

AU - Matsumura, Fumio

AU - Fujita, Masayuki

PY - 1996

Y1 - 1996

N2 - In this paper, we present a robust control for a flexible-joint robot manipulator using linear parameter varying representation. The robot manipulator dynamics can be brought to a quasi linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear at system whose dynamics depend on an exogenous variable which can be measured upon system operation. In this case, the scheduling variables are the joint angles q. which are state variables. Using a quasi-LPV form, we design a robust controller by μ-synthesis to achieve robust performance specification.

AB - In this paper, we present a robust control for a flexible-joint robot manipulator using linear parameter varying representation. The robot manipulator dynamics can be brought to a quasi linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear at system whose dynamics depend on an exogenous variable which can be measured upon system operation. In this case, the scheduling variables are the joint angles q. which are state variables. Using a quasi-LPV form, we design a robust controller by μ-synthesis to achieve robust performance specification.

UR - http://www.scopus.com/inward/record.url?scp=0030371396&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0030371396&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0030371396

SP - 489

EP - 492

BT - Proceedings of the IEEE International Conference on Industrial Technology

A2 - Anon, null

PB - IEEE

ER -