Robust digital controller design for robot manipulator

Author

Shatalov, B.V. ; Yurkevich, V.D.

Author_Institution

Novosibirsk State Tech. Univ., Russia

Volume

3

fYear

2000

fDate

2000

Firstpage

89

Abstract

The problem of the robust digital controller design to solve a tracking problem for robotic manipulators is studied. The design method based on the formation of two-time-scale motions in the closed-loop system is used. It has been shown that if a sufficient time-scale separation between the fast and slow modes in the discussed closed-loop system and stability of fast modes are provided then slow modes have the desired form and thus the output transient performance indices are insensitive to parameter variations of the robotic manipulator. Numerical simulations of the two-link robotic manipulator are presented

Keywords

closed loop systems; control system synthesis; digital control; discrete time systems; manipulators; performance index; robust control; tracking; closed-loop system; output transient performance indices; robot manipulator; robust digital controller design; stability; time-scale separation; tracking; two-time-scale motions; Closed loop systems; Control systems; Digital control; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Robot control; Robust control; Time varying systems; Variable structure systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Science and Technology, 2000. KORUS 2000. Proceedings. The 4th Korea-Russia International Symposium on

Conference_Location

Ulsan

Print_ISBN

0-7803-6486-4

Type

conf

DOI

10.1109/KORUS.2000.866065

Filename

866065