Kim, J.H. Hur, S.-M. Lee, J. Oh, Y. 2024-01-12T06:16:03Z 2024-01-12T06:16:03Z 2022-03-07 2016-05 1050-4729 https://pubs.kist.re.kr/handle/201004/79617 In this paper, we consider the L1 optimal proportional-derivative (PD) controller synthesis by which the L∞ gain of trajectory tracking systems can be reduced. The notion of input-to-state stability (ISS), which has been equipped with the L2 norm of a vector-valued signal, plays important roles in evaluating the effect of disturbances on the system states. In connection with this, we first redefine the conventional ISS with the L∞ norm to deal with bounded persistent disturbances because the disturbances should be mathematically regarded as elements of the L∞ space. A tractable model for trajectory tracking control of robot systems is then given by using ideas of extended disturbance and composite error. We next introduce a design method of the L1 optimal PD controller for such a model, by which the trajectory tracking system satisfies the redefined ISS and the L∞ gain is less than a performance level γ. Finally, we examine the effectiveness of the design method through experimental results for a typical robot manipulator. ？ 2016 IEEE. English Institute of Electrical and Electronics Engineers Inc. A study on the L1 optimal PD controller with application to joint motion control of a robot manipulator Conference 10.1109/ICRA.2016.7487792 1 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, pp.5696 - 5701 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 5696 5701 US Stockholm, Sweden 2016-05-16 Proceedings - IEEE International Conference on Robotics and Automation 2-s2.0-84977588979