Title :
Stability robustness and robustification of the exact linearization method of robotic manipulator control
Author :
Fadali, Mohammed Sami ; Yaz, E.
Author_Institution :
Dept. of Electr. Eng., Nevada Univ., Reno, NV, USA
Abstract :
Exact linearization is a convenient method for designing controllers for robotic manipulators. However, these controllers require fairly accurate modeling of the robot dynamics and may become unstable in the presence of significant model uncertainties. We derive several new stability robustness bounds for exact linearization of robotic manipulator controllers. We also provide a robustification technique that guarantees global exponential convergence to zero (ECZ) for bounded uncertainty
Keywords :
control system synthesis; linearisation techniques; manipulators; robust control; stability criteria; control design; exact linearization method; global exponential convergence; model uncertainties; robotic manipulator control; stability robustness bounds; Feedback; Friction; Manipulator dynamics; Nonlinear dynamical systems; Nonlinear systems; Robots; Robust control; Robust stability; Symmetric matrices; Vectors;
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.1995.480371
