DocumentCode
1835361
Title
Robustness of NPD control (preliminary results)
Author
Armstrong, Brian
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., Wisconsin Univ., Milwaukee, WI, USA
Volume
1
fYear
1997
fDate
7-11 Sep 1997
Firstpage
478
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1997.649106
Filename
649106
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