Title :
Robust Gamma-Stable Controller Design for a Two-Degree-of-Freedom Robot Arm
Author :
Lemmer, László ; Kiss, Báliant
Author_Institution :
Dept. of Control Eng. & Inf. Technol., Budapest Univ. of Technol. & Econ.
Abstract :
This paper presents the robustness analysis of a two-degree-of-freedom robot arm based on the notion of gamma-stability. First the mathematical model of the robot arm is given than the model parameters such as load mass and inertia, which have to be considered as uncertain, are enumerated. A simple linear controller is designed for the nominal parameters to provide position control without overshoot and the gamma-stability of the closed-loop system is studied
Keywords :
closed loop systems; linear systems; manipulators; motion control; position control; stability; closed-loop system; gamma-stable controller design; linear controller; position control; two-degree-of-freedom robot arm; Control engineering; Control systems; Gravity; Information technology; Mathematical model; Nonlinear equations; Orbital robotics; Position control; Robot kinematics; Robust control;
Conference_Titel :
Mechatronics, 2006 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-9712-6
Electronic_ISBN :
0-7803-9713-4
DOI :
10.1109/ICMECH.2006.252599
