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
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;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6358107
