DocumentCode
2036525
Title
Robust control of rigid robots
Author
Tang, Yu ; Tomizuka, Masayoshi ; Guerrero, Gerardo
Author_Institution
Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
Volume
1
fYear
1997
fDate
10-12 Dec 1997
Firstpage
791
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location
San Diego, CA
ISSN
0191-2216
Print_ISBN
0-7803-4187-2
Type
conf
DOI
10.1109/CDC.1997.650735
Filename
650735
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