摘要:

AbstractThis paper presents a two‐stage approach to theH∞generalized sensitivity minimization problem (H∞‐GSM) for SISO, continuous‐time plants. Besides some possible advantages in the control law evaluation with respect to alternative polynomial methods, the proposed approach provides a direct link with the solution of an underlying generalized minimum variance (H2‐GMV) problem and allows one to identify the class of the jointH2/H∞‐GMV (equalizingH2‐GMV) op

ISSN:1049-8923    

DOI:10.1002/rnc.4590010302

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1991

数据来源: WILEY

摘要:

AbstractA new method of robust controller synthesis is introduced which is an extension of robust stabilization to robust stability‐degree assignment. This method guarantees a lower bound of stability degree for all uncertainties within a prescribed magnitude band.The method is applied to the control of four types of flexible structures, namely, colocated beam, non‐colocated beam, beam with moving base and large scale satellite model. Excellent performances have been obtained experimentally with respect to the response speed and the robustn

ISSN:1049-8923    

DOI:10.1002/rnc.4590010303

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1991

数据来源: WILEY

摘要:

AbstractThis paper presents an elementary solution to the non‐singularH∞control problem. In this control problem, the underlying linear system satisfies a set of assumptions which ensures that the solution can be obtained by solving just two algebraic Riccati equations of the game type. This leads to the central solution to theH∞control problem. The solution presented in this paper uses only elementary ideas beginning with the Bounded Real

ISSN:1049-8923    

DOI:10.1002/rnc.4590010304

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1991

数据来源: WILEY

摘要:

AbstractThis paper presents a unified approach to direct adaptive motion control laws for robot manipulators that have been studied during the last few years by several authors. It provides a general approach based on sensivity to demonstrate the global asymptotic stability of adaptive schemes applied to rigid multilinked manipulators. It is shown that most of the schemes fit within this framework, which presents the advantage of being more systematic than other techniques and therefore will enable a unified presentation of the several schemes proposed to date and will increase our understanding of adaptive control of robot manipulators.

ISSN:1049-8923    

DOI:10.1002/rnc.4590010305

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1991

数据来源: WILEY

摘要:

AbstractThis study concerns the problem of robust control of robotic manipulators without joint velocity feedback. A robust lead + bias controller is studied. The bias signal is intended to compensate the nonlinear dynamics of the robot. The focus of this study is robustness when the nonlinear compensation is not perfect and the external disturbances are not negligible.A conservative polynomial bound is introduced to describe the worst feedback effect of the compensation error and the external disturbances. The polynomial bound covers a class of possible bias signals, synthesized according to the available knowledge about the robot dynamics. Based on the polynomial bound, the tracking errors of a lead + bias controller are proved to be uniformly bounded. They can be minimized by a proper design of the bias signal. In the ideal case where the bias signal compensates the robot dynamics perfectly, the tracking errors will converge to zero.

ISSN:1049-8923    

DOI:10.1002/rnc.4590010306

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1991

数据来源: WILEY

ISSN:1049-8923    

DOI:10.1002/rnc.4590010301

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1991

数据来源: WILEY