Title :
Pulse width modulated control of robotic manipulators
Author :
Sira-Ramirez, Hebertt ; Zribi, Mohamed ; Ahmad, Shaheen
Author_Institution :
Dept. of Control Syst., Univ. de Los Andes, Merida, Venezuela
Abstract :
A robust discontinuous feedback control scheme of the pulse width modulation (PWM) type is proposed for the regulation of angular positions of links in robotic manipulators. The discontinuous PWM controller design is carried out on the basis of the expected linearization approach for a suitably defined average PWM-controlled continuous model
Keywords :
linearisation techniques; pulse width modulation; robots; sampled data systems; angular positions; expected linearization approach; pulse width modulated control; robotic manipulators; robust discontinuous feedback control; Control system synthesis; Control systems; Feedback; Frequency; Manipulators; Nonlinear control systems; Pulse width modulation; Robot control; Sampling methods; Space vector pulse width modulation;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203614
