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Robust control is used for a system with uncertainties and disturbances. Above all, the H∞ loop shaping method is known as the method achieving good control performance. However, this method takes much time to build the mathematical model of an actual plant and its uncertainty. In this paper, we propose the fixed-order controller design method which only uses frequency response data of the plant....
Robots in human living areas need to recognize their changing environment, be safe for humans, and versatile to do various tasks. For this purpose, we propose in this paper an application of Linear-Visual-Servo (LVS) on a musculoskeletal arm. In LVS, displacement transformation is expressed as a constant matrix and converts from work space to joint space is used. On the other hand, for the control...
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