Title

Robust Control Of A Class Of Nonlinear Uncertain Systems With Application To Flexible Joint Robots

Abstract

Robust control of a general class of uncertain nonlinear systems is investigated. The class of nonlinear systems includes many physical systems as special cases and has an important feature that the uncertainties in the system, even if they were known, could not be exactly canceled by using a control input. Several robust control laws are proposed to make the system stable in the sense of either asymptotic stability or uniformly ultimately bounded stability. The results require no knowledge about the structure and size of the uncertainties except a polynomial-type bounding function on Euclidean norm of the uncertainties. The extension to trajectory tracking problem is also discussed. The results are directly applicable to control applications of robotic manipulators with flexible joints.

Publication Date

12-1-1991

Publication Title

American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC

Volume

31

Number of Pages

105-111

Document Type

Article; Proceedings Paper

Identifier

scopus

Personal Identifier

scopus

Socpus ID

0026368165 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0026368165

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