Title :
A robust control design for an uncertain nonlinear robotic system
Author :
Lin, Shield B. ; Wang, Sheng-Guo
Author_Institution :
Dept. of Mech. Eng., Texas A&M Univ., Prairie View, TX, USA
Abstract :
The nonlinear model-based manipulator control system is a good approach to manipulator control when parameters are known and the control computer is sufficient powerful. However, these parameters are inevitably in error, the unmodeled effects may be state-dependent, and the control may also not exactly compensate the nonlinear items. This paper offers a robust control design for an uncertain nonlinear robotic system. This designed robust control law provides the robust relative stability with the designed closed-loop system poles robustly locating in a vertical strip on the left-half complex plane in face of the parameter errors and state-dependent perturbations
Keywords :
closed loop systems; manipulators; nonlinear control systems; poles and zeros; robust control; uncertain systems; closed-loop system poles; left-half complex plane; nonlinear model-based manipulator control system; parameter errors; robust control design; robust relative stability; state-dependent perturbations; uncertain nonlinear robotic system; vertical strip; Computer errors; Control system synthesis; Error correction; Manipulators; Nonlinear control systems; Power system modeling; Robots; Robust control; Robust stability; Strips;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.480222
