Robust Guaranteed Cost Control Of Uncertain Nonlinear Robotic System Using Mixed Minimum-Time And Quadratic Performance Index
Title - Alternative
Optim. Control Appl. Methods
Performance Index; Lyapunov Method; Minimum Time; Guaranteed Cost; Control; Law; Tracking; Automation & Control Systems; Operations Research & Management Science; Mathematics, Applied
To provide better transient performance in controlling robots, a mixed minimum time and quadratic performance index is used. For known and uncertain revolute robot manipulators a conventional optimal control and a robust guaranteed cost control are proposed respectively. Asymptotic stability is also discussed based on the Lyapunov direct method. The proposed robust control is continuous and requires no knowledge of the uncertain system except for bounding functions.
Optimal Control Applications & Methods
Kaloust, J. and Qu, Z., "Robust Guaranteed Cost Control Of Uncertain Nonlinear Robotic System Using Mixed Minimum-Time And Quadratic Performance Index" (1995). Faculty Bibliography. 1853.