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dc.contributor.authorKim, Jung Hoon-
dc.contributor.authorOh, Yonghwan-
dc.contributor.authorHur, Sung-moon-
dc.date.accessioned2024-01-19T10:39:25Z-
dc.date.available2024-01-19T10:39:25Z-
dc.date.created2022-02-28-
dc.date.issued2018-02-
dc.identifier.issn2643-2978-
dc.identifier.urihttps://pubs.kist.re.kr/handle/201004/114377-
dc.description.abstractThis paper introduces a new performance analysis method for a computed torque controller against disturbances with the framework of the induced norm from L-2 to L-infinity (which is also denoted by the L-infinity/L-2-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 L-infinity/L-2 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 L-infinity/L-2-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.-
dc.languageEnglish-
dc.publisherIEEE-
dc.titleA Study on the L-infinity/L-2 Performance of a Computed Torque Controller-
dc.typeConference-
dc.description.journalClass1-
dc.identifier.bibliographicCitation19th IEEE International Conference on Industrial Technologies (ICIT), pp.35 - 39-
dc.citation.title19th IEEE International Conference on Industrial Technologies (ICIT)-
dc.citation.startPage35-
dc.citation.endPage39-
dc.citation.conferencePlaceUS-
dc.citation.conferencePlaceLyon, FRANCE-
dc.citation.conferenceDate2018-02-19-
dc.relation.isPartOf2018 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT)-
dc.identifier.wosid000494652000003-
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KIST Conference Paper > 2018
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