Title :
Stability issues in a disturbance attenuation based technique for manipulator control
Author :
Sillitoe, I.P.W. ; Szumko, S. ; Kreidie, H.
Author_Institution :
Dept. of Electron. & Electr. Eng., Loughborough Univ. of Technol., UK
Abstract :
This paper investigates the practical stability of a simple and yet robust control technique, whose design is based upon disturbance attenuation plus stabilisation. In particular, it considers the problems associated with the implementation of this controller in discrete-time form. The approach is illustrated with practical results taken from a GMF S-360 industrial manipulator
Keywords :
discrete time systems; industrial manipulators; robust control; GMF S-360 industrial manipulator; discrete-time; disturbance attenuation based technique; manipulator control; robust control; stability issues; Discrete time systems; Manipulators; Robustness;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381422
