DocumentCode
2106524
Title
Robust time-optimal control of robotic manipulators under payload uncertainty
Author
Jian Huang ; Chen, Yaobin
Author_Institution
Dept. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
fYear
1993
fDate
15-17 Dec 1993
Firstpage
2135
Abstract
This paper presents a new robust time-optimal control (TOC) strategy for robotic manipulators with payload uncertainty. This strategy, featuring combination of off-line optimization and online adaptation, determines the optimum switching time for control torques in real time according to actual system state. Simulation study has shown that this strategy can guarantee a robot arm to move always along TOC trajectory regardless of changes in payload over a wide range
Keywords
feedback; manipulators; optimal control; optimisation; position control; stability; online adaptation; optimization; optimum switching time; payload uncertainty; robotic manipulators; robust feedback control; robust time-optimal control; system state; trajectory control; Feedback; Manipulators; Open loop systems; Optimal control; Payloads; Real time systems; Robot control; Robust control; Robustness; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location
San Antonio, TX
Print_ISBN
0-7803-1298-8
Type
conf
DOI
10.1109/CDC.1993.325573
Filename
325573
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