DocumentCode
2292644
Title
Non-smooth robust nonlinear control for robotic manipulators
Author
Zhao, Donya ; Xie, Lihua ; Zhu, Quanmin
Author_Institution
Coll. of Chem. Eng., Univ. of Pet., Qingdao, China
fYear
2012
fDate
6-8 July 2012
Firstpage
1447
Lastpage
1452
Abstract
A new non-smooth robust nonlinear control approach is proposed for robotic manipulators. Compared with the existing robust nonlinear control for robots, the new developed can achieve higher control precision and faster convergence speed. The stability property is analyzed in terms of Lyapunov redesign method. An illustrative example is presented to validate the effectiveness of the proposed approach.
Keywords
Lyapunov methods; control system synthesis; convergence; manipulators; nonlinear control systems; robust control; Lyapunov redesign method; control precision; convergence speed; nonsmooth robust nonlinear control; robotic manipulators; stability property; Equations; Manipulator dynamics; Robust control; Uncertainty; Vectors; Non-smooth control; Robot control; Robust control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location
Beijing
Print_ISBN
978-1-4673-1397-1
Type
conf
DOI
10.1109/WCICA.2012.6358107
Filename
6358107
Link To Document