DocumentCode
1040487
Title
Robust tracking control for rigid robotic manipulators
Author
Zhihong, Man ; Palaniswami, M.
Author_Institution
Dept. of Electr. & Electron. Eng., Melbourne Univ., Parkville, Vic., Australia
Volume
39
Issue
1
fYear
1994
fDate
1/1/1994 12:00:00 AM
Firstpage
154
Lastpage
159
Abstract
The problem of robust tracking control using a nominal feedback controller and a variable structure compensator for a rigid robotic manipulator with uncertain dynamics is addressed in this note. It is shown that the effects of large system uncertainties can be eliminated and asymptotic convergence of the output tracking error can be guaranteed by using a variable structure compensator in the closed loop feedback control system for the rigid robotic manipulator
Keywords
closed loop systems; compensation; dynamics; feedback; manipulators; stability; tracking; variable structure systems; asymptotic convergence; closed loop feedback control system; large system uncertainties; nominal feedback controller; rigid robotic manipulators; robust tracking control; uncertain dynamics; variable structure compensator; Automatic control; Circuits; Control systems; Feedback; Manipulators; Polynomials; Robot control; Robotics and automation; Robust control; Robust stability;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.273355
Filename
273355
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