Title :
Lyapunov recursive design of robust tracking control with L2 -gain performance for electrically-driven robot manipulators
Author :
Ishii, Chiharu ; Shen, Tielong ; Qu, Zhihua
Author_Institution :
Ashikaga Inst. of Technol., Japan
Abstract :
This paper develops a new Lyapunov recursive design for the robust tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty. The novelty is in the strategy to construct such a Lyapunov function recursively that ensures not only stability of a tracking error system but also an L2-gain constraint for the tracking performance
Keywords :
Lyapunov methods; control system synthesis; manipulator dynamics; robust control; tracking; L2-gain performance; Lyapunov function; Lyapunov recursive design; electrically-driven robot manipulators; rigid-link; robust tracking control; tracking error system stability; uncertainty; Actuators; Adaptive control; Centralized control; Control systems; Manipulator dynamics; Nonlinear dynamical systems; Robot control; Robust control; Stability; Voltage;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.807851
