Title

Attenuation Of Nonlinearly State-Dependent Uncertainties: Robust Control Design And Its Application To Robotic Manipulators

Authors

Authors

Z. Qu;J. Kaloust

Comments

Authors: contact us about adding a copy of your work at STARS@ucf.edu

Abbreviated Journal Title

Int. J. Control

Keywords

ULTIMATE BOUNDEDNESS; MATCHING ASSUMPTIONS; SYSTEMS; ABSENCE; LAW; Automation & Control Systems

Abstract

Attenuation of nonlinear uncertainties using robust control is considered. A system under investigation has a linear nominal part and a nonlinear lumped uncertainty. Robust control is designed using the Lyapunov direct method. It is shown that the proposed control is continuous, guarantees global stability without knowledge of nonlinear dynamics except their size bounding function, and ensures a finite upper bound on the attenuation performance index over an finite horizon. That is, the proposed control is both robust and optimal. As an application, it is shown that the proposed control can be directly applied to robotic manipulators and many other nonlinear systems.

Journal Title

International Journal of Control

Volume

63

Issue/Number

1

Publication Date

1-1-1996

Document Type

Article

DOI Link

http://dx.doi.org/10.1080/00207179608921829

Language

English

First Page

27

Last Page

40

WOS Identifier

WOS:A1996TX38700002

ISSN

0020-7179

Recommended Citation

"Attenuation Of Nonlinearly State-Dependent Uncertainties: Robust Control Design And Its Application To Robotic Manipulators" (1996). Faculty Bibliography 1990s. 1724.
https://stars.library.ucf.edu/facultybib1990/1724