Bringing Nonlinear H-infinity Optimality to Robot Controllers

Title
Bringing Nonlinear H-infinity Optimality to Robot Controllers
Author
최영진
Keywords
Force control; H-infinity control; motion control; robot control; robust control; SYSTEMS; DESIGN; MANIPULATORS; FEEDBACK; FORMULATION; ROBUSTNESS; MOTION
Issue Date
2015-06
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON ROBOTICS, v. 31, No. 3, Page. 682-698
Abstract
This paper proposes a framework called nonlinear robust internal-loop compensator that enables us to bring nonlinear H-infinity optimality to robot controllers in a unified and simple way. Using the framework, a controller designed for the nominal plant can achieve additional robustness by simply adding PID-type auxiliary input to the original control law. Robust performance is guaranteed by the nonlinear H-infinity optimality and robust stability is guaranteed by proving the extended disturbance input-to-state stability. Moreover, the framework preserves the passivity property of the original controller. Finally, the performance bound can be predicted and leads to the gain tuning rules. By virtue of the tuning rules, the performance can be tuned using only a single variable. The proposed method was validated through the simulations and experiments.
URI
http://ieeexplore.ieee.org/abstract/document/7101283/?reload=truehttp://hdl.handle.net/20.500.11754/36680
ISSN
1552-3098; 1941-0468
DOI
10.1109/TRO.2015.2419871
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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