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- W2799264695 abstract "This paper introduces a new performance analysis method for a computed torque controller against disturbances with the framework of the induced norm from L 2 to (which is also denoted by the L ∞ /L 2 -induced norm). To this end, we first derive a linear time-invariant (LTI) representation of the system obtained by connecting a robot manipulator and a computed torque controller. We then formulate the problem definition associated with the L ∞ /L 2 performance of the computed torque controller in which the maximum magnitude of the output for disturbances of finite energy is adopted as the performance measure. We next show that the L ∞ /L 2 -induced norm of the derived LTI system can be explicitly computed by solving the continuous-time Lyapunov equation. Finally, some experiment results are provided to demonstrate the effectiveness of the introduced performance analysis method." @default.
- W2799264695 created "2018-05-07" @default.
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- W2799264695 date "2018-02-01" @default.
- W2799264695 modified "2023-09-23" @default.
- W2799264695 title "A study on the L<inf>∞</inf>/L<inf>2</inf> performance of a computed torque controller" @default.
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- W2799264695 doi "https://doi.org/10.1109/icit.2018.8352148" @default.
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