Title :
A robust tracking control scheme for robotic manipulators with uncertain dynamics
Author :
Man, Zhihong ; Palaniswami, M.
Author_Institution :
Dept. of Electr. & Electron. Eng., Melbourne Univ., Parkville, Vic., Australia
Abstract :
A variable-structure compensator is designed for the closed-loop feedback control system of a robotic manipulator with uncertain dynamics. It is shown that the closed-loop system with a variable-structure compensator not only behaves with a strong robustness property with respect to large uncertain dynamics, but also makes the output tracking error converge to zero asymptotically
Keywords :
closed loop systems; compensation; feedback; robots; stability; variable structure systems; asymptotic error convergence; closed-loop feedback control system; output tracking error; robotic manipulators; robust tracking control scheme; uncertain dynamics; variable-structure compensator; Adaptive control; Closed loop systems; Control systems; Error correction; Feedback control; Manipulator dynamics; Robot control; Robust control; Tracking loops; Uncertainty;
Conference_Titel :
Systems Engineering, 1992., IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-0734-8
DOI :
10.1109/ICSYSE.1992.236926
