Title :
Robust controller design based on guaranteed cost control approach for rigid robots
Author :
Xu, S.J. ; Darouach, M. ; Schaefers, J. ; Zasadzinski, M.
Author_Institution :
CRP-Henri Tudor, Luxembourg
Abstract :
In this paper, a controller for industrial robots is proposed, which is robust against some external disturbances and unmodelled dynamics while satisfying the controlled system to some prescriptive performances. The robust controller is based on the guaranteed cost control technique
Keywords :
control system synthesis; industrial robots; nonlinear control systems; optimal control; robots; robust control; guaranteed cost control; industrial robots; nonlinear system; optimal control; rigid robots; robust control; Nonlinear systems; Optimal control; Robots; Robustness;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381247
