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
fDate :
1/1/1994 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
