DocumentCode
2509340
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
fYear
1994
fDate
24-26 Aug 1994
Firstpage
77
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location
Glasgow
Print_ISBN
0-7803-1872-2
Type
conf
DOI
10.1109/CCA.1994.381247
Filename
381247
Link To Document