Robust control of uncertain nonlinear systems with applications to robots

Author

Jianmin, Xu ; Shaoyun, Xu ; Qijie, Zhou

Author_Institution

Dept. of Autom., South China Univ. of Technol., Guangzhou, China

fYear

1994

fDate

5-9 Dec 1994

Firstpage

58

Lastpage

62

Abstract

This paper addresses the robust control of a kind of uncertain nonlinear systems. A linearized model with constructed uncertainty is established by using state diffeomorphism and feedback control. The robust outer-loop design method for regulation and tracking problems is studied respectively. The resultant algorithm can ensure the robustness and good performance of the closed-loop system. The application of the proposed method to robot control is studied. Simulation results show the feasibility of the method

Keywords

closed loop systems; control system synthesis; feedback; linearisation techniques; nonlinear systems; robots; robust control; tracking; uncertain systems; closed-loop system; feedback control; linearized model; robots; robust control; state diffeomorphism; tracking; uncertain nonlinear systems; Control systems; Design methodology; Erbium; Feedback control; Nonlinear systems; Robotics and automation; Robots; Robust control; Robustness; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 1994., Proceedings of the IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

0-7803-1978-8

Type

conf

DOI

10.1109/ICIT.1994.467179

Filename

467179