Inverse Optimal H1 Disturbance Attenuation for Planar Manipulators with the Eye{in{Hand System

Abstract

This paper deals with an inverse optimal H1 disturbance attenuation for the planar manipulators with the eye-in-hand system. The input-to-state stability control Lyapunov function (ISS-CLF) is constructed the full Lagrangian dynamics based on a potential function of the image feature parameter space. The ISS-CLF gives us an inverse optimalH1 control law. A proposed controller solves the inverse optimal H1 control problem by minimizing a cost functional, and the closedloop system with the proposed controller is input-tostate stable. Further, we discuss that the inverse optimal H1 controller has robustness against input uncertainties.

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Cite this paper

@inproceedings{Fujita2000InverseOH, title={Inverse Optimal H1 Disturbance Attenuation for Planar Manipulators with the Eye\{in\{Hand System}, author={Masayuki Fujita and Akira Maruyama and Manabu Watanabe and Hiroyuki Kawai}, year={2000} }