Robust path tracking control of industrial robots: An H∞ approach

Y. D. SONG; A. T. ALOUANI; J. N. ANDERSON

doi:10.1109/CCA.1992.269904

Robust path tracking control of industrial robots: An H∞ approach

Y. D. SONG^*
, A. T. ALOUANI
, J. N. ANDERSON

^*Corresponding author for this work

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

7 Citations (Scopus)

Abstract

This paper is devoted to the path tracking control problem of industrial robots using a computed torque. plus H_∞ optimal compensation technique. The former is used to render the robot model into a linear one with a generalized disturbance, where the disturbance is due to the model uncertainty, sensor noise and external disturbances. The H_∞ technique is then applied to synthesize a compensator that minimized in the H_∞ sense. Simulation results show the effectiveness of the proposed strategy.

Original language	English
Title of host publication	Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992
Publisher	IEEE
Pages	25-30
Number of pages	6
ISBN (Electronic)	0780300475, 9780780300477
DOIs	https://doi.org/10.1109/CCA.1992.269904
Publication status	Published - 1992
Externally published	Yes
Event	1st IEEE Conference on Control Applications, CCA 1992 - Dayton, United States Duration: 12 Sept 1992 → 16 Sept 1992

Conference

Conference	1st IEEE Conference on Control Applications, CCA 1992
Country/Territory	United States
City	Dayton
Period	12/09/92 → 16/09/92

Bibliographical note

Publisher Copyright:
© 1992 IEEE.

Keywords

H optimization
Path tracking
Robot control
Uncertainty

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10.1109/CCA.1992.269904

Cite this

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title = "Robust path tracking control of industrial robots: An H∞ approach",

abstract = "This paper is devoted to the path tracking control problem of industrial robots using a computed torque. plus H∞ optimal compensation technique. The former is used to render the robot model into a linear one with a generalized disturbance, where the disturbance is due to the model uncertainty, sensor noise and external disturbances. The H∞ technique is then applied to synthesize a compensator that minimized in the H∞ sense. Simulation results show the effectiveness of the proposed strategy.",

keywords = "H optimization, Path tracking, Robot control, Uncertainty",

author = "SONG, \{Y. D.\} and ALOUANI, \{A. T.\} and ANDERSON, \{J. N.\}",

note = "Publisher Copyright: {\textcopyright} 1992 IEEE.; 1st IEEE Conference on Control Applications, CCA 1992 ; Conference date: 12-09-1992 Through 16-09-1992",

year = "1992",

doi = "10.1109/CCA.1992.269904",

language = "English",

pages = "25--30",

booktitle = "Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992",

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AU - SONG, Y. D.

AU - ALOUANI, A. T.

AU - ANDERSON, J. N.

PY - 1992

Y1 - 1992

N2 - This paper is devoted to the path tracking control problem of industrial robots using a computed torque. plus H∞ optimal compensation technique. The former is used to render the robot model into a linear one with a generalized disturbance, where the disturbance is due to the model uncertainty, sensor noise and external disturbances. The H∞ technique is then applied to synthesize a compensator that minimized in the H∞ sense. Simulation results show the effectiveness of the proposed strategy.

AB - This paper is devoted to the path tracking control problem of industrial robots using a computed torque. plus H∞ optimal compensation technique. The former is used to render the robot model into a linear one with a generalized disturbance, where the disturbance is due to the model uncertainty, sensor noise and external disturbances. The H∞ technique is then applied to synthesize a compensator that minimized in the H∞ sense. Simulation results show the effectiveness of the proposed strategy.

KW - H optimization

KW - Path tracking

KW - Robot control

KW - Uncertainty

UR - https://www.scopus.com/pages/publications/0343929046

U2 - 10.1109/CCA.1992.269904

DO - 10.1109/CCA.1992.269904

M3 - Conference paper (refereed)

AN - SCOPUS:0343929046

SP - 25

EP - 30

BT - Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992

PB - IEEE

T2 - 1st IEEE Conference on Control Applications, CCA 1992

Y2 - 12 September 1992 through 16 September 1992

ER -

Robust path tracking control of industrial robots: An H∞ approach

Abstract

Conference

Bibliographical note

Keywords

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