NONLINEAR H-INFINITY DISTURBANCE ATTENUATION FOR ROBOTS WITH FLEXIBLEJOINTS

Authors
TOMEI P
Citation
P. Tomei, NONLINEAR H-INFINITY DISTURBANCE ATTENUATION FOR ROBOTS WITH FLEXIBLEJOINTS, International journal of robust and nonlinear control, 5(4), 1995, pp. 365-373
Citations number
8
Categorie Soggetti
Controlo Theory & Cybernetics",Mathematics,"Engineering, Eletrical & Electronic
Journal title
International journal of robust and nonlinear control → ACNP
ISSN journal
10498923
Volume
5
Issue
4
Year of publication
1995
Pages
365 - 373
Database
ISI
SICI code
1049-8923(1995)5:4<365:NHDAFR>2.0.ZU;2-1
Abstract
The tracking problem is considered for robots having flexible joints. We propose a state feedback control algorithm which guarantees arbitra ry attenuation on the outputs of the effects of time-varying disturban ces as well as of parameter uncertainties. Only a lower bound on the v alues of the elastic constants is required to be known.