DocumentCode
326840
Title
A simple linear stabilizing controller for RLED robot manipulators with uncertain models
Author
Ailon, Amit ; Gil, Michael I. ; Choi, Eun S. ; Ahn, Byubg H.
Author_Institution
Dept. of Mechatron., Kwangju Inst. of Sci. & Technol., South Korea
Volume
2
fYear
1998
fDate
21-26 Jun 1998
Firstpage
929
Abstract
Considers the stability problem of rigid-link electrically driven (RLED) robot manipulators. We present a linear controller which ensures local exponential stability. As far as the mechanical subsystem is concerned, we assume that only bounds on the unknown parameters are available
Keywords
asymptotic stability; linear systems; manipulators; uncertain systems; linear stabilizing controller; local exponential stability; mechanical subsystem; rigid-link electrically driven robot manipulators; uncertain models; Actuators; Adaptive control; Force control; Gravity; Manipulators; Motion control; Power system modeling; Programmable control; Robot control; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1998. Proceedings of the 1998
Conference_Location
Philadelphia, PA
ISSN
0743-1619
Print_ISBN
0-7803-4530-4
Type
conf
DOI
10.1109/ACC.1998.703544
Filename
703544
Link To Document