DocumentCode
488225
Title
Survey of the Robust Control of Robots
Author
Abdallah, C. ; Dorato, P. ; Jamshidi, K.
Author_Institution
CAD Laboratory for Systems and Robotics, Electrical and Computer Engineering Department, University of New Mexico, Albuquerque, NM 87131.
fYear
1990
fDate
23-25 May 1990
Firstpage
718
Lastpage
721
Abstract
In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable" Approach, the "Passivity" approach and the "Variable-Structure" approach. The survey is limited to rigid robots and nonadaptive controllers.
Keywords
Adaptive control; Control systems; Equations; Gravity; Lagrangian functions; Robot control; Robot kinematics; Robust control; Symmetric matrices; Tellurium;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1990
Conference_Location
San Diego, CA, USA
Type
conf
Filename
4790827
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