Title :
Robustness of NPD control (preliminary results)
Author :
Armstrong, Brian
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Wisconsin Univ., Milwaukee, WI, USA
Abstract :
Robustness results are presented for nonlinear PD (NPD) control. Drawing on the experimental demonstration by Xu et al. (1995) of the performance benefits of NPD control and previous results establishing Lyapunov stability, the robustness of NPD control is examined and minimum bounds for robustness to parametric variation are established. As an example, robust control of the Sarcos dextrous manipulator is described
Keywords :
force control; manipulators; nonlinear control systems; robust control; two-term control; Lyapunov stability; Sarcos dextrous manipulator; minimum bounds; nonlinear PD control; parametric variation; robustness; Control systems; Damping; Force control; Force feedback; Lyapunov method; Nonlinear control systems; Robots; Robust control; Robust stability; Robustness;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.649106
