Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study

Detalhes bibliográficos
Autor(a) principal: Siqueira,Adriano A. G.
Data de Publicação: 2009
Outros Autores: Terra,Marco H., Ishihara,João Y., Barbeiro,Tácio L. S.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782009000400001
Resumo: ABSTRACT This paper deals with robust control of underactuated manipulator robots. It presents a comparative study of four combined controllers H2, H∞ , H2/H∞ and µ-synthesis, pluscomputed torque method. These controllers are applied in an actual underactuated manipulator robot with 3 degrees of freedom, of which joints can be configured as active or passive ones. The study performed in this paper compares the robustness of each controller when different disturbances are considered.
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spelling Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative studymanipulator robotcomputed torque methodrobust controlµ synthesisH2, H∞ , H2H∞ABSTRACT This paper deals with robust control of underactuated manipulator robots. It presents a comparative study of four combined controllers H2, H∞ , H2/H∞ and µ-synthesis, pluscomputed torque method. These controllers are applied in an actual underactuated manipulator robot with 3 degrees of freedom, of which joints can be configured as active or passive ones. The study performed in this paper compares the robustness of each controller when different disturbances are considered.Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM2009-12-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782009000400001Journal of the Brazilian Society of Mechanical Sciences and Engineering v.31 n.4 2009reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)instacron:ABCM10.1590/S1678-58782009000400001info:eu-repo/semantics/openAccessSiqueira,Adriano A. G.Terra,Marco H.Ishihara,João Y.Barbeiro,Tácio L. S.eng2010-02-19T00:00:00Zoai:scielo:S1678-58782009000400001Revistahttps://www.scielo.br/j/jbsmse/https://old.scielo.br/oai/scielo-oai.php||abcm@abcm.org.br1806-36911678-5878opendoar:2010-02-19T00:00Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)false
dc.title.none.fl_str_mv Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study
title Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study
spellingShingle Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study
Siqueira,Adriano A. G.
manipulator robot
computed torque method
robust control
µ synthesis
H2, H∞ , H2
H∞
title_short Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study
title_full Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study
title_fullStr Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study
title_full_unstemmed Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study
title_sort Underactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study
author Siqueira,Adriano A. G.
author_facet Siqueira,Adriano A. G.
Terra,Marco H.
Ishihara,João Y.
Barbeiro,Tácio L. S.
author_role author
author2 Terra,Marco H.
Ishihara,João Y.
Barbeiro,Tácio L. S.
author2_role author
author
author
dc.contributor.author.fl_str_mv Siqueira,Adriano A. G.
Terra,Marco H.
Ishihara,João Y.
Barbeiro,Tácio L. S.
dc.subject.por.fl_str_mv manipulator robot
computed torque method
robust control
µ synthesis
H2, H∞ , H2
H∞
topic manipulator robot
computed torque method
robust control
µ synthesis
H2, H∞ , H2
H∞
description ABSTRACT This paper deals with robust control of underactuated manipulator robots. It presents a comparative study of four combined controllers H2, H∞ , H2/H∞ and µ-synthesis, pluscomputed torque method. These controllers are applied in an actual underactuated manipulator robot with 3 degrees of freedom, of which joints can be configured as active or passive ones. The study performed in this paper compares the robustness of each controller when different disturbances are considered.
publishDate 2009
dc.date.none.fl_str_mv 2009-12-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782009000400001
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782009000400001
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S1678-58782009000400001
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
dc.source.none.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering v.31 n.4 2009
reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron:ABCM
instname_str Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron_str ABCM
institution ABCM
reponame_str Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
collection Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
repository.name.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
repository.mail.fl_str_mv ||abcm@abcm.org.br
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