Nonlinear Robust Control Design For Robot Manipulators With Unmodeled Actuator Dynamics

    Authors

    J. Kaloust; Z. H. Qu;C. H. Ham

    Comments

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    Abbreviated Journal Title

    Adv. Robot.

    Keywords

    SYSTEMS; LAW; Robotics

    Abstract

    In this paper, a robust control design for robot tracking is introduced in which both electrical and mechanical dynamics can be compensated for. The robot dynamics under consideration include large nonlinear uncertainties as well as unmodeled dynamics. The unmodeled dynamics are assumed to be stable, but can be of any order. The nonlinear robust control developed guarantees global stability and it requires no feedback from either the actuator or unmodeled dynamics. The design is developed using a state transformation and Lyapunov's direct method.

    Journal Title

    Advanced Robotics

    Volume

    10

    Issue/Number

    5

    Publication Date

    1-1-1996

    Document Type

    Article

    Language

    English

    First Page

    453

    Last Page

    467

    WOS Identifier

    WOS:A1996WC05900002

    ISSN

    0169-1864

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