Robust control of cascaded nonlinear systems

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

Robust control is designed for nonlinear uncertain systems, which can be decomposed into two cascaded subsystems, that is, a series connection of two nonlinear subsystems. For such system, a recursive design is used to include second subsystem into robust control. The recursive design procedure is constructive and contains two steps. First, fictitious robust controller for first subsystem is designed as if the subsystem had an independent control. As the fictitious control, nonlinear H∞ control using the energy dissipation is designed in the sense of L2-gain attenuation from the disturbance caused by uncertainties to performance. Second, the actual robust control is designed recursively by Lyapunov's second method. The designed robust control is applied to robotic system with actuators, in which physical control inputs are not the torque to robot links but electrical signals to actuators.

Original languageEnglish
Pages33-38
Number of pages6
StatePublished - 2000 Dec 1
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: 2000 Oct 312000 Nov 5

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryJapan
CityTakamatsu
Period00/10/3100/11/5

Fingerprint

Robust control
Nonlinear systems
Actuators
Uncertain systems
Energy dissipation
Robotics
Torque
Robots
Controllers

Cite this

Park, J. H., & Yim, J. (2000). Robust control of cascaded nonlinear systems. 33-38. Paper presented at 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan.
Park, Jong Hyeon ; Yim, J. / Robust control of cascaded nonlinear systems. Paper presented at 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan.6 p.
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Park, JH & Yim, J 2000, 'Robust control of cascaded nonlinear systems', Paper presented at 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan, 00/10/31 - 00/11/5 pp. 33-38.

Robust control of cascaded nonlinear systems. / Park, Jong Hyeon; Yim, J.

2000. 33-38 Paper presented at 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan.

Research output: Contribution to conferencePaper

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Park JH, Yim J. Robust control of cascaded nonlinear systems. 2000. Paper presented at 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan.