Title :
Set-point regulation for a robot with model uncertainties
Author :
Arogeti, Shai ; Berman, Nadav
Author_Institution :
Dept. of Mech. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
Abstract :
We introduce a smooth linear control algorithm for the set-point regulation of a robot with uncertainties in its mathematical model. This control algorithm incorporates position measurement only, while compensating for the unknown gravity forces. We also discuss its performance in comparison to other algorithms with similar structure
Keywords :
asymptotic stability; compensation; linear systems; matrix algebra; position control; position measurement; robot dynamics; uncertain systems; gravity forces compensation; model uncertainties; position measurement; set-point regulation; smooth linear control algorithm; Control system synthesis; Control systems; Force control; Gravity; Mathematical model; Orbital robotics; PD control; Position measurement; Robots; Uncertainty;
Conference_Titel :
Electrical and electronic engineers in israel, 2000. the 21st ieee convention of the
Conference_Location :
Tel-Aviv
Print_ISBN :
0-7803-5842-2
DOI :
10.1109/EEEI.2000.924398
