Title :
Robust control of rigid robots
Author :
Tang, Yu ; Tomizuka, Masayoshi ; Guerrero, Gerardo
Author_Institution :
Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
Abstract :
This paper presents a simple robust control for rigid robots based on the Lyapunov approach. First, the stability and performance are established with a rather general nonlinear switching surface. Then a design example of the nonlinear switching surface with experiment results are given. Besides its simplicity and robustness, the salient features of the proposed controller are its capability of giving a reduced tracking error in the steady-state and reduced control efforts in the transient-state
Keywords :
control system synthesis; nonlinear control systems; robots; robust control; Lyapunov approach; nonlinear switching surface design; reduced control efforts; reduced tracking error; rigid robots; robust control; Control systems; Error correction; Manipulators; Robots; Robust control; Stability; Steady-state; Symmetric matrices; Torque control; Uncertainty;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.650735
