Robust guaranteed cost control of uncertain nonlinear robotic system using mixed minimum time and quadratic performance index

Author

Kaloust, J.H. ; Qu, Zhihua

Author_Institution

Dept. of Electr. & Comput. Eng., Central Florida Univ., Orlando, FL, USA

fYear

1993

fDate

15-17 Dec 1993

Firstpage

1634

Abstract

To provide better transient performance in controlling robots, the mixed minimum-time and quadratic performance index is used. For known or uncertain revolute robot manipulators, conventional optimal control and robust guaranteed cost control are proposed, respectively. Asymptotic stability is also discussed based an Lyapunov direct method. The proposed robust control is continuous and requires no knowledge of uncertain system except bounding functions

Keywords

Lyapunov methods; nonlinear systems; optimal control; performance index; robots; stability; Lyapunov direct method; asymptotic stability; bounding functions; minimum time performance index; mixed performance index; optimal control; quadratic performance index; robust guaranteed cost control; transient performance; uncertain nonlinear robotic system; uncertain revolute robot manipulators; Aerodynamics; Control systems; Costs; Friction; Manipulator dynamics; Nonlinear control systems; Optimal control; Performance analysis; Robots; Robust control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-1298-8

Type

conf

DOI

10.1109/CDC.1993.325465

Filename

325465