A Study on the Linfinity/L2 Performance of a Computed Torque Controller

Title
A Study on the Linfinity/L2 Performance of a Computed Torque Controller
Authors
오용환김정훈허성문
Issue Date
2018-02
Publisher
Proceedings of the 19th IEEE International Conference on Industrial Technolgy (ICIT)
Citation
-39
Abstract
This paper introduces a new performance analysis method for a computed torque controller against disturbances with the framework of the induced norm from L2 to L1 (which is also denoted by the L1=L2-induced norm). To this end, we first derive a linear time-invariant (LTI) representation of the system obtained by connecting a robot manipulator and a computed torque controller. We then formulate the problem definition associated with the L1=L2 performance of the computed torque controller in which the maximum magnitude of the output for disturbances of finite energy is adopted as the performance measure. We next show that the L1=L2-induced norm of the derived LTI system can be explicitly computed by solving the continuous-time Lyapunov equation. Finally, some experiment results are provided to demonstrate the effectiveness of the introduced performance analysis method.
URI
http://pubs.kist.re.kr/handle/201004/67671
Appears in Collections:
KIST Publication > Conference Paper
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE