{"title":"具有非结构不确定性的定制机械臂鲁棒控制","authors":"T. Qaisar, A. Mahmood","doi":"10.1109/ICET.2015.7389204","DOIUrl":null,"url":null,"abstract":"Owing to the recent advancement in the field of `Robotics', the use of robots can now be modified to fit our own requirements. A potential field of expansion in this domain is the design and implementation of prosthetic limbs. In this paper we discuss the robust control of a customized robotic gripper arm. We also incorporate unstructured uncertainties and analyze responses of both H2 and H∞ compensators. This comparison show the advantage of integrating the aforementioned compensators on system stability.","PeriodicalId":166507,"journal":{"name":"2015 International Conference on Emerging Technologies (ICET)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Robust control of a customized robotic arm with unstructured uncertainties\",\"authors\":\"T. Qaisar, A. Mahmood\",\"doi\":\"10.1109/ICET.2015.7389204\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Owing to the recent advancement in the field of `Robotics', the use of robots can now be modified to fit our own requirements. A potential field of expansion in this domain is the design and implementation of prosthetic limbs. In this paper we discuss the robust control of a customized robotic gripper arm. We also incorporate unstructured uncertainties and analyze responses of both H2 and H∞ compensators. This comparison show the advantage of integrating the aforementioned compensators on system stability.\",\"PeriodicalId\":166507,\"journal\":{\"name\":\"2015 International Conference on Emerging Technologies (ICET)\",\"volume\":\"57 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 International Conference on Emerging Technologies (ICET)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICET.2015.7389204\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 International Conference on Emerging Technologies (ICET)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICET.2015.7389204","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Robust control of a customized robotic arm with unstructured uncertainties
Owing to the recent advancement in the field of `Robotics', the use of robots can now be modified to fit our own requirements. A potential field of expansion in this domain is the design and implementation of prosthetic limbs. In this paper we discuss the robust control of a customized robotic gripper arm. We also incorporate unstructured uncertainties and analyze responses of both H2 and H∞ compensators. This comparison show the advantage of integrating the aforementioned compensators on system stability.
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