In this paper, we present a nonlinear H∞ control technique for the bilateral teleoperation of a nonlinear master-slave system. The proposed controller guarantees robust stability in the presence of uncertainty in operator and environment impedances. The guidelines to include nonlinear intervening tool between master and slave robot are suggested. The proposed technique enables adjusting weighti...

In this paper, we consider the problem of robust H-infinity Control for a class of uncertain nonlinear systems. We derive LMI conditions for analyzing regional robust stability and performance based on Lyapunov functions which are polynomial functions of the state and uncertain parameters. More specifically, we provide an energy bound on the input disturbance which guarantees that the state of ...

A new class of adaptive nonlinear H∞ control for robotic manipulators is proposed in this manuscript. Those control strategies are derived as solutions of particular nonlinear H∞ control problems, where both disturbances and estimation errors of unknown system parameters are regarded as exogenous disturbances to the processes, and the 2 gains from those uncertainties to generalized outputs are ...

This paper presents a nonlinear H∞ state feedback attitude control design method for spacecraft large angle maneuvers, which is subject to moment-of-inertia (MOI) uncertainty. Moreover, the operation of attitude maneuver is affected by external disturbances. The attitude control design thus employs a nonlinear H∞ method to achieve stability and robustness so that both MOI uncertainty and extern...

H, control theory for nonlinear systems has been developed, which is based on the concept of the energy dissipation. A nonlinear H, controller using the energy dissipation is designed in the sense of Lagain attenuation from a disturbance to performance and it is essential to find the solution of the Hamilton Jacobi (HJ) equation (or inequality) for application However, it is dificult to obtain ...

HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau...

This paper investigates a global stabilization problem and a nonlinear H∞ control problem for a class of nonminimum phase nonlinear multivariable systems. To avoid the complicated recursive design procedure, an asymptotic time-scale and eigenstructure assignment method is adopted to construct the control laws for the stabilization problem and the nonlinear H∞ control problem. A sufficient solva...