DocumentCode
2512498
Title
Stability issues in a disturbance attenuation based technique for manipulator control
Author
Sillitoe, I.P.W. ; Szumko, S. ; Kreidie, H.
Author_Institution
Dept. of Electron. & Electr. Eng., Loughborough Univ. of Technol., UK
fYear
1994
fDate
24-26 Aug 1994
Firstpage
553
Abstract
This paper investigates the practical stability of a simple and yet robust control technique, whose design is based upon disturbance attenuation plus stabilisation. In particular, it considers the problems associated with the implementation of this controller in discrete-time form. The approach is illustrated with practical results taken from a GMF S-360 industrial manipulator
Keywords
discrete time systems; industrial manipulators; robust control; GMF S-360 industrial manipulator; discrete-time; disturbance attenuation based technique; manipulator control; robust control; stability issues; Discrete time systems; Manipulators; 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.1994.381422
Filename
381422
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