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

dc.creatorSIQUEIRA, Adriano A. G.
dc.creatorTERRA, Marco H.
dc.creatorISHIHARA, João Y.
dc.creatorBARBEIRO, Tácio L. S.
dc.date.accessioned2012-03-26T01:52:40Z
dc.date.accessioned2018-07-04T13:53:38Z
dc.date.available2012-03-26T01:52:40Z
dc.date.available2018-07-04T13:53:38Z
dc.date.created2012-03-26T01:52:40Z
dc.date.issued2009
dc.identifierJournal of the Brazilian Society of Mechanical Sciences and Engineering, v.31, n.4, p.279-288, 2009
dc.identifier1678-5878
dc.identifierhttp://producao.usp.br/handle/BDPI/4319
dc.identifier10.1590/S1678-58782009000400001
dc.identifierhttp://www.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782009000400001
dc.identifierhttp://www.scielo.br/pdf/jbsmse/v31n4/v31n4a01.pdf
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/1603120
dc.description.abstractABSTRACT 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.
dc.languageeng
dc.publisherAssociação Brasileira de Engenharia e Ciências Mecânicas - ABCM
dc.relationJournal of the Brazilian Society of Mechanical Sciences and Engineering
dc.rightsCopyright Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
dc.rightsopenAccess
dc.subjectManipulator robot
dc.subjectComputed torque method
dc.subjectRobust control
dc.subjectµ synthesis
dc.subjectH2, H∞ , H2
dc.subjectH∞
dc.titleUnderactuated manipulator robot control via H2, H∞, H2/H∞, and µ-synthesis approaches: a comparative study
dc.typeArtículos de revistas


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