Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 최영진 | - |
dc.date.accessioned | 2018-02-12T05:30:26Z | - |
dc.date.available | 2018-02-12T05:30:26Z | - |
dc.date.issued | 2015-06 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON ROBOTICS, v. 31, No. 3, Page. 682-698 | en_US |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.issn | 1941-0468 | - |
dc.identifier.uri | http://ieeexplore.ieee.org/abstract/document/7101283/?reload=true | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11754/36680 | - |
dc.description.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. | en_US |
dc.description.sponsorship | This work was supported in part by the Engineering Research Center under Grant 20110030075, and Global Frontier R&D Program on Human-centered Interaction for Coexistence under Grant 2012M3A6A3056423. | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | en_US |
dc.subject | Force control | en_US |
dc.subject | H-infinity control | en_US |
dc.subject | motion control | en_US |
dc.subject | robot control | en_US |
dc.subject | robust control | en_US |
dc.subject | SYSTEMS | en_US |
dc.subject | DESIGN | en_US |
dc.subject | MANIPULATORS | en_US |
dc.subject | FEEDBACK | en_US |
dc.subject | FORMULATION | en_US |
dc.subject | ROBUSTNESS | en_US |
dc.subject | MOTION | en_US |
dc.title | Bringing Nonlinear H-infinity Optimality to Robot Controllers | en_US |
dc.type | Article | en_US |
dc.relation.no | 3 | - |
dc.relation.volume | 31 | - |
dc.identifier.doi | 10.1109/TRO.2015.2419871 | - |
dc.relation.page | 682-698 | - |
dc.relation.journal | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.contributor.googleauthor | Kim, MJ | - |
dc.contributor.googleauthor | Choi, YJ | - |
dc.contributor.googleauthor | Chung, WK | - |
dc.relation.code | 2015001571 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DIVISION OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | cyj | - |
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