DocumentCode
295001
Title
Stability robustness and robustification of the exact linearization method of robotic manipulator control
Author
Fadali, Mohammed Sami ; Yaz, E.
Author_Institution
Dept. of Electr. Eng., Nevada Univ., Reno, NV, USA
Volume
2
fYear
1995
fDate
13-15 Dec 1995
Firstpage
1624
Abstract
Exact linearization is a convenient method for designing controllers for robotic manipulators. However, these controllers require fairly accurate modeling of the robot dynamics and may become unstable in the presence of significant model uncertainties. We derive several new stability robustness bounds for exact linearization of robotic manipulator controllers. We also provide a robustification technique that guarantees global exponential convergence to zero (ECZ) for bounded uncertainty
Keywords
control system synthesis; linearisation techniques; manipulators; robust control; stability criteria; control design; exact linearization method; global exponential convergence; model uncertainties; robotic manipulator control; stability robustness bounds; Feedback; Friction; Manipulator dynamics; Nonlinear dynamical systems; Nonlinear systems; Robots; Robust control; Robust stability; Symmetric matrices; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.480371
Filename
480371
Link To Document