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A Control System Design of a Single - Link Manipulator Using H<SUB>∞</SUB> Control Theory
Yoichi SHIMOMOTO,Toshihiro KOBAYASHI,Takakazu ISHIMATSU 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
This paper is concerned with a control system design of a vertical type single-link manipulator. One designing method using H∞ control theory, which considers effects of gravity in a design specification, is proposed. In our design method we regard effects of gravity on dynamics of the manipulator as a disturbance at plant input. We consider reducing the H∞-norm of a transfer function from this disturbance to plant output as much as possible in order to reject effects of gravity. A numerical result shows that our design method achieves better tracking performance than the mixed sensitivity method which is a conventional method when H∞ control theory is applied to a control system design.