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

    Authors

    Z. Qu;J. Kaloust

    Comments

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    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

    Language

    English

    First Page

    27

    Last Page

    40

    WOS Identifier

    WOS:A1996TX38700002

    ISSN

    0020-7179

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