A Study on the Linfinity/L2 Performance of a Computed Torque Controller
- A Study on the Linfinity/L2 Performance of a Computed Torque Controller
- 오용환; 김정훈; 허성문
- Issue Date
- Proceedings of the 19th IEEE International Conference on Industrial Technolgy (ICIT)
- 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.
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