DocumentCode
1713113
Title
Robust optimal control of a robotic system
Author
Rabai, Tarek ; Saad, Maarouf ; Dessaint, Louis-A ; Al-Haddad, Et Kamal
Author_Institution
Montreal Higher Technol. Sch., Que., Canada
Volume
1
fYear
1995
Firstpage
326
Abstract
The authors work out and analyse a robust optimal control law for a class of mechanical systems. The outcome is an explicit solution of a matrix algebraic equation. Another approach can be used to optimise the torque and to stabilise the system. The proposed control is in two parts, one being an optimal control of the nominal system, and the other a robust control for eliminating the effects of perturbation. A manipulator with two degrees of freedom is used in the simulation to validate the proposed methods
Keywords
manipulators; matrix algebra; optimal control; robust control; stability; torque control; manipulator; matrix algebraic equation; mechanical systems; robotic system; robust optimal control law; stability; torque optimisation; Content addressable storage; Robots; Robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Computer Engineering, 1995. Canadian Conference on
Conference_Location
Montreal, Que.
ISSN
0840-7789
Print_ISBN
0-7803-2766-7
Type
conf
DOI
10.1109/CCECE.1995.528140
Filename
528140
Link To Document