文章基本信息

标题：L 2-Gain Analysis of a Global Nonlinear H∞ Control for Robot Manipulators
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作者：Topacio Osuna Altamirano ; Luis T. Aguilar
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：25
页码：205-210
DOI：10.1016/j.ifacol.2022.09.348
语种：English
出版社：Elsevier
摘要：AbstractThe synthesis of a global nonlinearH∞position regulator and the L2-gain analysis are studied for robot manipulators. For the global solution, one needs to verify the Hamilton-Jacobi-Isaacs inequality for all initial conditions. The stability analysis of the unperturbed closed-loop system is made in the framework of Lyapunov function, while the robustness analysis is stated by the L2-gain approach. Simulation results, made for an experimental robot, corroborate the developed analysis.
关键词：KeywordsL2-gain analysisnonlinear H∞controlrobot manipulatorrobustness