Abstract
In this paper, additive effects of a control method derived by combining the internal model control and LQ control are proposed. Robust stability for parameter perturbation is also discussed from LQ control point of view. Then the proposed method is applied to tracking control for a two-finger robot hand. Effectiveness of the proposed method is confirmed by comparative experiments. The results show that the proposed method is effective on tracking control and improving the disturbance estimation property.
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Schedule a callMore From: Transactions of the Japan Society of Mechanical Engineers Series C
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