H ∞ Synthesis Method for Control of Non-linear Flexible Joint Models
نویسندگان
چکیده
منابع مشابه
H∞ Synthesis Method for Control of Non-linear Flexible Joint Models ?
An H∞ synthesis method for control of a flexible joint, with non-linear spring characteristic, is proposed. The first step of the synthesis method is to extend the joint model with an uncertainty description of the stiffness parameter. In the second step, a non-linear optimisation problem, based on nominal performance and robust stability requirements, has to be solved. Using the Lyapunov shapi...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2014
ISSN: 1474-6670
DOI: 10.3182/20140824-6-za-1003.00142