Performance comparison of structured H∞ based looptune and LQR for a 4-DOF robotic manipulator
(2022)
Journal Article
Asghar, A., Iqbal, M., Khaliq, A., Rehman, S. U., & Iqbal, J. (2022). Performance comparison of structured H∞ based looptune and LQR for a 4-DOF robotic manipulator. PLoS ONE, 17(4), Article e0266728. https://doi.org/10.1371/journal.pone.0266728
We explore looptune, a MATLAB-based structured H1 synthesis technique in the context of robotics. Position control of a 4 Degree of Freedom (DOF) serial robotic manipulator developed using Simulink is the problem under consideration. Three full state... Read More about Performance comparison of structured H∞ based looptune and LQR for a 4-DOF robotic manipulator.