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
Copyright Status
Unknown
Socpus ID
0030394070 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/0030394070
STARS Citation
Kaloust, Joseph; Qu, Zhihua; and Ham, Chanho, "Paper: Nonlinear Robust Control Design For Robot Manipulators With Unmodeled Actuator Dynamics" (1995). Scopus Export 1990s. 1785.
https://stars.library.ucf.edu/scopus1990/1785