DocumentCode
1347591
Title
Decentralized robust control of mechanical systems
Author
Tang, Y. ; Tomizuka, M. ; Guerrero, G. ; Montemayor, G.
Author_Institution
DEPFI-UNAM, Nat. Univ. of Mexico, Mexico
Volume
45
Issue
4
fYear
2000
fDate
4/1/2000 12:00:00 AM
Firstpage
771
Lastpage
776
Abstract
For mechanical systems described by Euler-Lagrange equations and involving high-order interconnections, this paper proposes a decentralized control, which guarantees the uniform ultimate stability when the control objective is tracking a smooth desired trajectory. The controller design is based on some physical properties of such systems and Lyapunov design methodology. The application of the proposed controller to robot manipulators is presented, and experiment results are included to illustrate the performance of the proposed control algorithm
Keywords
Lyapunov methods; control system synthesis; decentralised control; manipulators; robust control; Euler-Lagrange equations; Lyapunov design methodology; controller design; decentralized robust control; high-order interconnections; mechanical systems; robot manipulators; uniform ultimate stability; Control systems; Design methodology; Distributed control; Equations; Manipulators; Mechanical systems; Robot control; Robust control; Stability; Trajectory;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.847120
Filename
847120
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