Title :
A simple linear stabilizing controller for RLED robot manipulators with uncertain models
Author :
Ailon, Amit ; Gil, Michael I. ; Choi, Eun S. ; Ahn, Byubg H.
Author_Institution :
Dept. of Mechatron., Kwangju Inst. of Sci. & Technol., South Korea
Abstract :
Considers the stability problem of rigid-link electrically driven (RLED) robot manipulators. We present a linear controller which ensures local exponential stability. As far as the mechanical subsystem is concerned, we assume that only bounds on the unknown parameters are available
Keywords :
asymptotic stability; linear systems; manipulators; uncertain systems; linear stabilizing controller; local exponential stability; mechanical subsystem; rigid-link electrically driven robot manipulators; uncertain models; Actuators; Adaptive control; Force control; Gravity; Manipulators; Motion control; Power system modeling; Programmable control; Robot control; Stability;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.703544
