Title :
Robust control algorithms for robot manipulators
Author :
Park, J.S. ; Jiang, Y.A. ; Hesketh, T.
Author_Institution :
Dept. of Syst. & Control, New South Wales Univ., Kensington, NSW, Australia
Abstract :
A robust computed torque problem is considered in this paper. By representing the error model as a block structured uncertainty model, the problem is formulated as a robust feedback controller design problem for systems with parameter uncertainties and an optimal input/ouput scaled H/sub /spl infin// stabilization approach is presented for synthesizing controllers which robustly stabilizes the linear system with the structured uncertainties. An application example for a two-link manipulator is given, and the simulation results of the proposed method for the uncertain dynamics are shown.<>
Keywords :
H/sup /spl infin// control; control system synthesis; feedback; robots; robust control; I/O stabilization; block structured uncertainty model; controller synthesis; error model; optimal input/ouput scaled H/sub /spl infin// stabilization; robot manipulators; robust computed torque problem; robust control algorithms; two-link manipulator; Adaptive control; Control system synthesis; Error correction; Manipulator dynamics; Robots; Robust control; Robustness; Torque; Uncertain systems; Uncertainty;
Conference_Titel :
TENCON '93. Proceedings. Computer, Communication, Control and Power Engineering.1993 IEEE Region 10 Conference on
Conference_Location :
Beijing, China
Print_ISBN :
0-7803-1233-3
DOI :
10.1109/TENCON.1993.320449
