dc.creator | Ortega Linares, Manuel Gil | es |
dc.creator | Rodríguez Rubio, Francisco | es |
dc.creator | Román, M. | es |
dc.date.accessioned | 2021-01-21T16:25:26Z | |
dc.date.available | 2021-01-21T16:25:26Z | |
dc.date.issued | 2002 | |
dc.identifier.citation | Gil Ortega Linares, M., Rodríguez Rubio, F. y Román, M. (2002). Nonlinear H_infinity control with PID structure for robot manipualtors. En IFAC International federation of automatic control world congress (407-412), Barcelona: Elsevier. | |
dc.identifier.issn | 2405-8963 | es |
dc.identifier.uri | https://hdl.handle.net/11441/104046 | |
dc.description | 15TH IFAC INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL WORLD CONGRESS (15) (15.2002.BARCELONA, SPAIN) | es |
dc.description.abstract | In this paper the nonlinear H∞ control for robot manipulators introduced in (Feng, W., Postlethwaite, I., 1994) is extended. An additional integral term is included to cope with persistent disturbances, such as constant weights at the end-efecctor. The extended controller is interpreted like a computed torque control with and external PID, whose gain matrices vary with the position and velocity of the robot joints. A particular case of the cost variable weighting matrix is studied in which the resulting external nonlinear PID does not depend on the attenuation level γ of the H∞ formulation. Finally, experimental results are presented for the RM-10 industrial robot. | es |
dc.description.sponsorship | Ministerio de Ciencia y Tecnología TAP98-054 | es |
dc.description.sponsorship | Ministerio de Ciencia y Tecnología DPI2000-1218- COl | es |
dc.description.sponsorship | Ministerio de Ciencia y Tecnología 1FD97-0783 | es |
dc.format | application/pdf | es |
dc.format.extent | 6 p. | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier | es |
dc.relation.ispartof | IFAC International federation of automatic control world congress (2002), pp. 407-412. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Robot manipulators | es |
dc.subject | Nonlinear H∞ control | es |
dc.subject | Disturbance rejection | es |
dc.title | Nonlinear H_infinity control with PID structure for robot manipualtors | es |
dc.type | info:eu-repo/semantics/conferenceObject | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | TAP98-054 | es |
dc.relation.projectID | DPI2000-1218- COl | es |
dc.relation.projectID | 1FD97-0783 | es |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S1474667015393010#! | es |
dc.identifier.doi | 10.3182/20020721-6-ES-1901.00880 | es |
dc.publication.initialPage | 407 | es |
dc.publication.endPage | 412 | es |
dc.eventtitle | IFAC International federation of automatic control world congress | es |
dc.eventinstitution | Barcelona | es |
dc.identifier.sisius | 5607430 | es |
dc.contributor.funder | European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER) | es |
dc.contributor.funder | European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER) | es |
dc.contributor.funder | European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER) | es |