将IMC设计与H/sub /spl / in//控制相结合，并在双指机械手上应用

Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI:10.1109/CCA.2001.974014

R. Suzuki, S. Hasegawa, N. Kobayashi

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引用次数: 4

摘要

本文提出了一种内模控制(IMC)和H/sub /spl / infin//控制相结合的控制方法的加性效应。将该方法应用于双指机械手的跟踪控制中。通过对比实验验证了该方法的有效性。实验结果表明，该方法具有较好的跟踪控制效果和较好的干扰估计性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Combining IMC design with H/sub /spl infin// control and its application to a two-finger robot hand

In this paper, additive effects of a control method derived by combining the internal model control (IMC) and H/sub /spl infin// control are proposed. The proposed method is then applied to tracking control for a two-finger robot hand. The effectiveness of the proposed method is confirmed by comparative experiments. The results obtained show that the proposed method is effective on tracking control and improving the disturbance estimation property.

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Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)

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