{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T13:46:12Z","timestamp":1766065572961,"version":"3.41.0"},"reference-count":16,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2021,3,2]],"date-time":"2021-03-02T00:00:00Z","timestamp":1614643200000},"content-version":"unspecified","delay-in-days":6362,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2003,10]]},"abstract":"<jats:title>Summary<\/jats:title>\n\t  <jats:p>A new approach to the design of a polytopic gain scheduled <jats:italic>H<\/jats:italic><jats:sub>\u221e<\/jats:sub> controller with pole placement for n-joint rigid robotic manipulators is presented. With linearization around the equilibrium manifold, the robotic system is transformed into a continuous linear parameter-varying (LPV) system with respect to the equilibrium manifold. A filter is introduced to obtain an augmented system, which is apt to have the polytopic gain scheduled controller designed. This system is put into a polytopic expression by a convex decomposition. Based on the concepts of quadratic D-stability and quadratic <jats:italic>H<\/jats:italic><jats:sub>\u221e<\/jats:sub> performance, the polytopic features are used to simplify the controller design to be a vertices\u2019 controller design for the polytope. A state feedback gain, which satisfies <jats:italic>H<\/jats:italic><jats:sub>\u221e<\/jats:sub> performance and dynamic characteristics for each vertex of the polytope, is designed with a Linear Matrix Inequality (LMI) approach. A global continuous gain scheduled controller is then obtained by a synthesis of the vertex gains. Experiments demonstrate the feasibility of the designed controller.<\/jats:p>","DOI":"10.1017\/s0263574703005071","type":"journal-article","created":{"date-parts":[[2003,10,9]],"date-time":"2003-10-09T11:32:00Z","timestamp":1065699120000},"page":"495-504","source":"Crossref","is-referenced-by-count":10,"title":["Polytopic gain scheduled <i>H<\/i><sub>\u221e<\/sub> control for robotic manipulators"],"prefix":"10.1017","volume":"21","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":[[2021,3,2]]},"reference":[{"key":"S0263574703005071_bib6","first-page":"2358","volume-title":"Proc. of the IEEE Int. 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