Title

Nonlinear Robust Control Design For Robot Manipulators With Unmodeled Actuator Dynamics

Authors

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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