Title

Paper: Nonlinear Robust Control Design For Robot Manipulators With Unmodeled Actuator Dynamics

Abstract

In this paper, a robust control design for robot tracking is introduced in which both electrical and mechanical dynamics can be compensated for. The robot dynamics under consideration include large nonlinear uncertainties as well as unmodeled dynamics. The unmodeled dynamics are assumed to be stable, but can be of any order. The nonlinear robust control developed guarantees global stability and it requires no feedback from either the actuator or unmodeled dynamics. The design is developed using a state transformation and Lyapunov's direct method. © 1995, VSP. All rights reserved.

Publication Date

1-1-1995

Publication Title

Advanced Robotics

Volume

10

Issue

5

Number of Pages

453-467

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1163/156855396X00165

Socpus ID

0030394070 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0030394070

This document is currently not available here.

Share

COinS