Title

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

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.

Publication Date

9-1-1995

Publication Title

Optimal Control Applications and Methods

Volume

16

Issue

4

Number of Pages

273-282

Document Type

Article

Personal Identifier

scopus

Socpus ID

0029374041 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0029374041

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