Title
Nonlinear Robust Control Design For Robotic Manipulators With Unmodelled Actuator Dynamics
Abstract
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 unmodelled dynamics. The unmodelled dynamics are assumed to be stable, but can be of any order. The nonlinear robust control developed guarantees global stability of uniform ultimate boundedness, and it requires no feedback from either the actuator or unmodelled dynamics. Moreover, the acceleration measurements of the robot links are avoided in the control scheme.
Publication Date
12-1-1995
Publication Title
IEEE Conference on Control Applications - Proceedings
Number of Pages
922-927
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
Copyright Status
Unknown
Socpus ID
0029514331 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/0029514331
STARS Citation
Kaloust, J.; Qu, Z.; and Ham, C., "Nonlinear Robust Control Design For Robotic Manipulators With Unmodelled Actuator Dynamics" (1995). Scopus Export 1990s. 2109.
https://stars.library.ucf.edu/scopus1990/2109