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
fDate :
6/1/1988 12:00:00 AM
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;
Journal_Title :
Robotics and Automation, IEEE Journal of
