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
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;
Conference_Titel :
Electrical and Computer Engineering, 1995. Canadian Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
0-7803-2766-7
DOI :
10.1109/CCECE.1995.528140
