Kobusf control of manipulators using the computed torque plus H compensation method

G. W. Lee, F. T. Cheng

研究成果: Article

21 引文 斯高帕斯(Scopus)

摘要

A new robust control scheme called the computed torque plus H compensation method is developed to control a robotic manipulator with payload and actuator uncertainties. The method linearises and decouples the nonlinear and coupled dynamic equations of a manipulator by the computed torque approach. Then the remaining uncertainty is compensated by the H control technique. In the H control synthesis process the technique of internal weight is applied to select the proper weights. Simulation results indicate that the computed torque plus H compensation method indeed exhibits better tracking performance than computed torque alone. Indexing terms: Robust control, H compensation. Robotics

原文English
頁(從 - 到)64-72
頁數9
期刊IEE Proceedings: Control Theory and Applications
143
發行號1
出版狀態Published - 1996 十二月 1

    指紋

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Instrumentation
  • Electrical and Electronic Engineering

引用此