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
Copyright Status
Unknown
Socpus ID
0029374041 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/0029374041
STARS Citation
Kaloust, J. and Qu, Z., "Robust Guaranteed Cost Control Of Uncertain Non-Linear Robotic System Using Mixed Minimum Time And Quadratic Performance Index" (1995). Scopus Export 1990s. 2074.
https://stars.library.ucf.edu/scopus1990/2074