Robust control using recursive design method for flexible joint robot manipulatorst
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yeon, Je Sung | - |
dc.contributor.author | Yim, Jongguk | - |
dc.contributor.author | Park, Jong Hyeon | - |
dc.date.accessioned | 2022-07-16T17:51:47Z | - |
dc.date.available | 2022-07-16T17:51:47Z | - |
dc.date.created | 2021-05-12 | - |
dc.date.issued | 2011-12 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/166966 | - |
dc.description.abstract | A flexible joint robot manipulator can he regarded as a cascade of two subsystems: link dynamics and the motor dynamics. Using this structural characteristic, we propose a robust nonlinear recursive control method for flexible manipulators. The recursive design is done in two steps. First, a fictitious robust control for the link dynamics is designed as if it has a direct control input. As the fictitious control, a nonlinear H-infinity-control using energy dissipation is designed in the sense of L-2 -gain attenuation from the disturbance caused by uncertainties to performance. In the process, Hamilton-Jacobi (HJ) inequality is solved by a more tractable nonlinear matrix inequality (NLMI) method. In the second step, the other fictitious and the actual robust control are designed recursively by using the Lyapunov's second method. The proposed robust control is applied to a two-link robot manipulator with flexible joints in computer simulations. The simulation results show that the proposed robust control has robustness to the model uncertainty caused by changes in the link inertia and the joint stillness. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | - |
dc.title | Robust control using recursive design method for flexible joint robot manipulatorst | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Park, Jong Hyeon | - |
dc.identifier.doi | 10.1007/s12206-011-0822-0 | - |
dc.identifier.scopusid | 2-s2.0-84862959491 | - |
dc.identifier.wosid | 000298014600027 | - |
dc.identifier.bibliographicCitation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.25, no.12, pp.3205 - 3213 | - |
dc.relation.isPartOf | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.title | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.volume | 25 | - |
dc.citation.number | 12 | - |
dc.citation.startPage | 3205 | - |
dc.citation.endPage | 3213 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001602849 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.subject.keywordPlus | LINK | - |
dc.subject.keywordAuthor | Flexible joint robot manipulator | - |
dc.subject.keywordAuthor | Robust control | - |
dc.subject.keywordAuthor | Non-linear H-infinity-control | - |
dc.subject.keywordAuthor | Recursive design | - |
dc.subject.keywordAuthor | Non-linear matrix inequality (NLMI) | - |
dc.identifier.url | https://link.springer.com/article/10.1007%2Fs12206-011-0822-0 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.