Title
Robust Guaranteed Cost Control Of Uncertain Nonlinear Robotic System Using Mixed Minimum Time And Quadratic Performance Index
Abstract
To provide better transient performance in controlling robots, the mixed minimum-time and quadratic performance index is used. For known or uncertain revolute robot manipulators, conventional optimal control and robust guaranteed cost control are proposed, respectively. Asymptotic stability is also discussed based on Lyapunov direct method. The proposed robust control is continuous and requires no knowledge of uncertain system except bounding functions.
Publication Date
12-1-1993
Publication Title
Proceedings of the IEEE Conference on Decision and Control
Volume
2
Number of Pages
1634-1635
Document Type
Article; Proceedings Paper
Identifier
scopus
Personal Identifier
scopus
Copyright Status
Unknown
Socpus ID
0027853317 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/0027853317
STARS Citation
Kaloust, Joseph H. and Qu, Zhihua, "Robust Guaranteed Cost Control Of Uncertain Nonlinear Robotic System Using Mixed Minimum Time And Quadratic Performance Index" (1993). Scopus Export 1990s. 480.
https://stars.library.ucf.edu/scopus1990/480