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
收藏
页码：205 / 210
页数：6
相关论文
共 50 条
  • [31] Robust global L2-gain control of structural non-linear systems
    Nguang, SK
    INTERNATIONAL JOURNAL OF CONTROL, 1999, 72 (11) : 1033 - 1042
  • [32] A dynamic programming approach to the approximation of nonlinear L2-gain
    Dower, Peter M.
    Kellett, Christopher M.
    47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008), 2008, : 1 - 6
  • [33] Nonlinear disturbance attenuation control of static phase shifter in sense of L2-gain
    Mei, S
    Guan, T
    Lu, Q
    Song, YH
    Goto, M
    EUROPEAN TRANSACTIONS ON ELECTRICAL POWER, 2003, 13 (02): : 113 - 118
  • [34] Passivity-based visual feedback control with dynamic compensation of mobile manipulators: Stability and L2-gain performance analysis
    Andaluz, Victor H.
    Roberti, Flavio
    Salinas, Lucio
    Toibero, Juan M.
    Carelli, Ricardo
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2015, 66 : 64 - 74
  • [35] Global H∞ control design for tracking control of robot manipulators
    Acho, L
    Orlov, Y
    Aguilar, L
    PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2002, 1-6 : 3986 - 3990
  • [36] Nonlinear L2-gain disturbance attenuation controller for ASVG
    Liu, Feng
    Mei, Shengwei
    Lu, Qiang
    Dianli Xitong Zidonghue/Automation of Electric Power Systems, 2000, 24 (20): : 11 - 15
  • [37] Observer-embedded L2-gain control
    Hong, BS
    Ray, A
    APPLIED MATHEMATICS LETTERS, 2001, 14 (05) : 563 - 569
  • [38] Stabilization and L2-gain analysis of uncertain linear systems with control saturation
    Zhao, Ke-You
    Wei, Airong
    Wang, Jinhua
    WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 1052 - +
  • [39] A Numerical Algorithm for Nonlinear L2-gain Optimal Control With Application to Vehicle Yaw Stability Control
    Milic, Vladimir
    Di Cairano, Stefano
    Kasac, Josip
    Bemporad, Alberto
    Situm, Zeljko
    2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2012, : 5040 - 5045
  • [40] Nonlinear L2-Gain Analysis of Hybrid Systems in the Presence of Sliding Modes and Impacts
    Osuna, T.
    Montano, O. E.
    Orlov, Y.
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2016, 2016
12345