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

    Authors

    J. Kaloust;Z. Qu

    Comments

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    Abbreviated Journal Title

    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.

    Journal 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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