• DocumentCode
    1555905
  • Title

    Stabilization of uncertain systems subject to hard bounds on control with application to a robot manipulator

  • Author

    Hached, Mehrez ; Madani-Esfahani, S. Mehdi ; Zak, Stanislaw H.

  • Author_Institution
    Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
  • Volume
    4
  • Issue
    3
  • fYear
    1988
  • fDate
    6/1/1988 12:00:00 AM
  • Firstpage
    310
  • Lastpage
    323
  • Abstract
    The problem of estimating the region of stability for uncertain systems with bounded controllers and the sliding mode requirement is examined. A novel type of controller for a class of linear time-invariant systems subject to uncertainties is proposed. A transformation for decoupling the fast and slow states is utilized to investigate the stability-domain estimates of the system. The results are then applied to a two-joint planar manipulator and illustrated by computer simulation
  • Keywords
    control system analysis; linear systems; robots; stability; state estimation; bounded controllers; fast states; hard bounds; linear time-invariant systems; robot manipulator; sliding mode; slow states; stability; state estimation; uncertain systems; Computer simulation; Control systems; Manipulators; Orbital robotics; Robot control; Stability; State estimation; Uncertain systems; Uncertainty; Variable structure systems;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Journal of
  • Publisher
    ieee
  • ISSN
    0882-4967
  • Type

    jour

  • DOI
    10.1109/56.792
  • Filename
    792
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1555905