L2-Gain Analysis of a Global Nonlinear H∞ Control for Robot Manipulators

被引：1

作者：

Osuna Altamirano, Topacio ^{[1
]}

Aguilar, Luis T. ^{[2
]}

机构：

[1] Univ Autonoma Sinaloa, Fac Ciencias Fis Matemat, Culiacan, Sinaloa, Mexico

[2] Inst Politecn Nacl, Ave Inst Politecn Nacl 1310, Tijuana 22435, Mexico

来源：

IFAC PAPERSONLINE | 2022年 / 55卷 / 25期

关键词：

L-2-gain analysis; nonlinear H-infinity control; robot manipulator; robustness;

D O I：

10.1016/j.ifacol.2022.09.348

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The synthesis of a global nonlinear H-infinity position regulator and the L-2-gain analysis are studied for robot manipulators. For the global solution, one needs to verify the Hamilton-Jacobi-Isaacs inequality for all initial conditions. The stability analysis of the unperturbed closed-loop system is made in the framework of Lyapunov function, while the robustness analysis is stated by the L-2-gain approach. Simulation results, made for an experimental robot, corroborate the developed analysis. Copyright (C) 2022 The Authors.

引用

页码：205 / 210

页数：6

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