Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Jung Hoon | - |
dc.contributor.author | Oh, Yonghwan | - |
dc.contributor.author | Hur, Sung-moon | - |
dc.date.accessioned | 2024-01-19T10:39:25Z | - |
dc.date.available | 2024-01-19T10:39:25Z | - |
dc.date.created | 2022-02-28 | - |
dc.date.issued | 2018-02 | - |
dc.identifier.issn | 2643-2978 | - |
dc.identifier.uri | https://pubs.kist.re.kr/handle/201004/114377 | - |
dc.description.abstract | This 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.language | English | - |
dc.publisher | IEEE | - |
dc.title | A Study on the L-infinity/L-2 Performance of a Computed Torque Controller | - |
dc.type | Conference | - |
dc.description.journalClass | 1 | - |
dc.identifier.bibliographicCitation | 19th IEEE International Conference on Industrial Technologies (ICIT), pp.35 - 39 | - |
dc.citation.title | 19th IEEE International Conference on Industrial Technologies (ICIT) | - |
dc.citation.startPage | 35 | - |
dc.citation.endPage | 39 | - |
dc.citation.conferencePlace | US | - |
dc.citation.conferencePlace | Lyon, FRANCE | - |
dc.citation.conferenceDate | 2018-02-19 | - |
dc.relation.isPartOf | 2018 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT) | - |
dc.identifier.wosid | 000494652000003 | - |
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