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Robust Control of Cooperative Manipulators

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

Abstract

In this chapter we present three nonlinear \({\mathcal{H}}_{\infty}\) control techniques for underactuated cooperative manipulators. Two are based on a quasi-linear parameter varying (quasi-LPV) representation of the nonlinear system with solutions based on game theory. These controllers take into account a fundamental characteristic of cooperative manipulator control, namely, that squeeze force control is designed independently of position control. In these cases, only the position control problem is reflected in the \({\mathcal{H}}_{\infty}\) performance index. The third controller uses a neural network-based adaptive control law to estimate the parametric uncertainties of the system. In this case, the \({\mathcal{H}}_{\infty}\) performance index includes both the position and squeeze force errors of the cooperative manipulators.

Keywords

Kinematic Constraint Symmetric Positive Definite Matrix Nonlinear Controller Linear Parameter Vary Passive Joint 
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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