Title: Underactuated Manipulator Robot Control By State Feedback Linearization Via H ∞
Abstract: In this article we address the important problem of robust control design for an underactuated manipulator robot with three joints. The H-infinity design procedure considers the generalized regulator problem, and a suboptimal H-infinity controller is designed. This control strategy is compared with a known PID control for different structures of the underactuated robot. Tests are performed to verify the controller’s robustness.
Publication Year: 2000
Publication Date: 2000-09-01
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 5
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