Title
Robust Guaranteed Cost Control Of Uncertain Nonlinear Robotic System Using Mixed Minimum-Time And Quadratic Performance Index
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
ISSN
0143-2087
Recommended Citation
"Robust Guaranteed Cost Control Of Uncertain Nonlinear Robotic System Using Mixed Minimum-Time And Quadratic Performance Index" (1995). Faculty Bibliography 1990s. 758.
https://stars.library.ucf.edu/facultybib1990/758
Comments
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