Abstract
This chapter deals with nonlinear \({\mathcal{H}}_{\infty}\) control methodologies for robot manipulators. The nonlinear \({\mathcal{H}}_{\infty}\) control considered guarantees an appropriate attenuation of the torque disturbance effect on the joint positions. We deal with two fundamental approaches for this class of controllers; the first is based on game theory and the second is based on linear parameter-varying (LPV) techniques. We provide solutions based on state and output feedback controls.
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© 2011 Springer-Verlag London Limited
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Siqueira, A.A.G., Terra, M.H., Bergerman, M. (2011). Nonlinear \({\mathcal{H}}_{\varvec\infty}\) Control. In: Robust Control of Robots. Springer, London. https://doi.org/10.1007/978-0-85729-898-0_3
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DOI: https://doi.org/10.1007/978-0-85729-898-0_3
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