{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T06:50:56Z","timestamp":1648795856159},"reference-count":10,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2002,9,6]],"date-time":"2002-09-06T00:00:00Z","timestamp":1031270400000},"content-version":"unspecified","delay-in-days":5,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2002,9]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>A conservatism-reduced design of a gain scheduled output feedback<jats:italic>H<\/jats:italic><jats:sub>\u221e<\/jats:sub>controller for an<jats:italic>n<\/jats:italic>-joint rigid robotic manipulator, which integrates the varying-parameter rate without their feedback, is proposed. The robotic system is reduced to a 1inear parameter varying (LPV) form, which depends on the varying-parameter. By using a parameter-dependent Lyapunov function, the design of a controller, which satisfies the closed-loop<jats:italic>H<\/jats:italic><jats:sub>\u221e<\/jats:sub>performance, is reduced to a solution of the parameterized linear matrix inequalities (LMIs) of parameter matrices. With a use of the concept of \u201cmulti-convexity\u201d, the solution of the infinite LMIs in the varying-parameter and its rate space is reduced to a solution of the finite LMIs for the vertex set. The proposed controller eliminates the feedback of the varying-parameter rate and fixes its upper boundary so that the conservatism of the controller design is reduced. Experimental results verify the effectiveness of the proposed design.<\/jats:p>","DOI":"10.1017\/s0263574701004015","type":"journal-article","created":{"date-parts":[[2002,9,20]],"date-time":"2002-09-20T12:53:08Z","timestamp":1032526388000},"page":"537-544","source":"Crossref","is-referenced-by-count":0,"title":["Advanced gain scheduled<i>H<\/i><sub>\u221e<\/sub>controller for robotic manipulators"],"prefix":"10.1017","volume":"20","author":[{"given":"Zhongwei","family":"Yu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huitang","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peng-Yung","family":"Woo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2002,9,6]]},"reference":[{"key":"S0263574701004015_ref108","doi-asserted-by":"crossref","unstructured":"Gahinet P. , Arkadii N. , Laib A. J. and Chliali M. , \u201cThe LMI control Toolbox\u201d, Proc. of 33rd. Conf on Decision and Control, Lake Buena Vista, FL. (Dec, 1994), pp. 2038\u20132041.","DOI":"10.1109\/CDC.1994.411440"},{"key":"S0263574701004015_ref104","doi-asserted-by":"crossref","unstructured":"Shamma J. S. and Athans M. , \u201cGain scheduling: potential hazards and possible remedies\u201d, IEEE Control Systems Magazine 101\u2013107 (June, 1992).","DOI":"10.1109\/37.165527"},{"key":"S0263574701004015_ref106","doi-asserted-by":"crossref","unstructured":"Kajiwara H. , Apkarian P. and Gahinet P. , \u201cLPV techniques for control of an inverted pendulum\u201d, IEEE Control Systems Magazine 44\u201354 (January, 1999).","DOI":"10.1109\/37.745767"},{"key":"S0263574701004015_ref110","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.4590040403"},{"key":"S0263574701004015_ref103","doi-asserted-by":"publisher","DOI":"10.1109\/9.58498"},{"key":"S0263574701004015_ref109","first-page":"562","volume":"21","author":"Yu","year":"1999","journal-title":"Robot"},{"key":"S0263574701004015_ref101","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1981.1102555"},{"key":"S0263574701004015_ref105","doi-asserted-by":"crossref","unstructured":"Jiang J. , \u201cOptimal gain scheduling controller fop a diesel engine\u201d, IEEE Control Systems Magazine 42\u201348 (August, 1994).","DOI":"10.1109\/37.295969"},{"key":"S0263574701004015_ref107","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(95)00038-X"},{"key":"S0263574701004015_ref102","doi-asserted-by":"publisher","DOI":"10.1109\/87.654874"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574701004015","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,3,7]],"date-time":"2020-03-07T22:13:33Z","timestamp":1583619213000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574701004015\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,9]]},"references-count":10,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2002,9]]}},"alternative-id":["S0263574701004015"],"URL":"https:\/\/doi.org\/10.1017\/s0263574701004015","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2002,9]]}}}