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Proceedings Paper

Servo control in joint space of biped robot using nonlinear H-infinity strategy
Author(s): Yongxue Zhang; Haiying Tian; Qing Wang; Wenyi Qiang
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Paper Abstract

This paper present a solution to the problem of servo control in joint space of biped robot using a state feedback nonlinear H(infinity ) optimal disturbance attenuation, which guarantee robust stability against external disturbance and fluctuation of the system parameter. The design aims at finding a stabilizing nonlinear state feedback such that the close loop system is (gamma) dissipative. We know that the nonlinear H(infinity ) control can be reduced to solvability of the Hamilton-Jacobian-Isaccs partial differential problem, which is difficult to solve. Based on about fact and combining the work of Johansson and Chen, we are able deduce the problem of a state feedback nonlinear H(infinity ) optimal disturbance attenuation to solving a Riccati-like equation. After some manipulation by use of the skew symmetric property of robot, the Riccati-like equation can be further simplified algebraic matrix problem. Finally, the explicit global solution is presented.

Paper Details

Date Published: 9 May 2000
PDF: 6 pages
Proc. SPIE 4077, International Conference on Sensors and Control Techniques (ICSC 2000), (9 May 2000); doi: 10.1117/12.385618
Show Author Affiliations
Yongxue Zhang, Harbin Institute of Technology (China)
Haiying Tian, Liao Ning Univ. of Technology (China)
Qing Wang, Harbin Institute of Technology (China)
Wenyi Qiang, Harbin Institute of Technology (China)


Published in SPIE Proceedings Vol. 4077:
International Conference on Sensors and Control Techniques (ICSC 2000)
Desheng Jiang; Anbo Wang, Editor(s)

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