A Study on the L1 Optimal PD Controller with Application to Joint Motion Control of a Robot Manipulator

Title
A Study on the L1 Optimal PD Controller with Application to Joint Motion Control of a Robot Manipulator
Authors
오용환이종우김정훈허성문
Keywords
L1 optimal control; PD control; Trajectory tracking; Input-to-state stability
Issue Date
2016-05
Publisher
2016 IEEE International Conference on Robotics and Automation (ICRA 2016)
Citation
, 5696-5701
URI
http://pubs.kist.re.kr/handle/201004/59508
Appears in Collections:
KIST Publication > Conference Paper
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