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Linear \({\mathcal H}_{\user2 \infty}\) Control

  • Adriano A. G. Siqueira
  • Marco H. Terra
  • Marcel Bergerman
Chapter

Abstract

This chapter deals with linear robust control of robot manipulators. The approach we consider is based on the combination of two controllers, computed torque and linear \({\mathcal{H}}_\infty.\) Experimental results using the UARM manipulator and CERob environment are presented to illustrate the validity of the method.

Keywords

External Disturbance Robotic Manipulator Robust Controller Linear Controller Applied Torque 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  • Adriano A. G. Siqueira
    • 1
  • Marco H. Terra
    • 1
  • Marcel Bergerman
    • 2
  1. 1.Engineering School of São CarlosUniversity of São PauloSão CarlosBrazil
  2. 2.CMU Robotics InstitutePittsburghUSA

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