Nonlinear H//sub/spl infin// controller design for flexible joint robots

@article{Taghirad2005NonlinearHI,
  title={Nonlinear H//sub/spl infin// controller design for flexible joint robots},
  author={H. Taghirad and M. Shaterian},
  journal={Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.},
  year={2005},
  pages={1391-1396}
}
In this paper the design of a nonlinear Hinfin controller for flexible joint robot (FJR) is presented. An approximate solution based on Taylor series expansion is considered for the Hamilton-Jacobi-Isaac (HJI) inequality. A two-degree-of-freedom controller combined of nonlinear Hinfin controller and inverse dynamics controller is proposed to tackle the… CONTINUE READING