Title

Robust Guaranteed Cost Control Of Uncertain Nonlinear Robotic System Using Mixed Minimum-Time And Quadratic Performance Index

Authors

J. Kaloust
Z. Qu

Title - Alternative

Optim. Control Appl. Methods

Keywords

Performance Index; Lyapunov Method; Minimum Time; Guaranteed Cost; Control; Law; Tracking; Automation & Control Systems; Operations Research & Management Science; Mathematics, Applied

Abstract

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.

Publication Title

Optimal Control Applications & Methods

Volume

16

Issue/Number

4

Publication Date

1-3-1995

Document Type

Note

Language

English

First Page

273

Last Page

282

WOS Identifier

WOS:A1995RV49200004

ISSN

0143-2087

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