Title :
Re-thinking the robust control of robot manipulators
Author :
Dawson, D.Y. ; Qu, Z. ; Lim, S.
Author_Institution :
Clemson Univ., SC, USA
Abstract :
The authors describe two classes of robust controllers for the tracking of robot motion. The controllers are simple linear proportional derivative (PD) controllers plus a nonlinear term that compensates for the uncertainties present in the manipulator dynamic equation. The main result is that it is explicitly shown that the response of the tracking error can be modified by adjusting the control parameters. The corresponding stability result for the tracking error for the two classes of controllers presented are global uniform ultimate boundedness and global exponential stability
Keywords :
nonlinear control systems; position control; robots; stability; two-term control; dynamic equation; global exponential stability; global uniform ultimate boundedness; linear PD controllers; manipulators; motion tracking; nonlinear control; robot; robust control; tracking error; Error correction; Manipulator dynamics; Motion control; PD control; Proportional control; Robot motion; Robust control; Stability; Tracking; Uncertainty;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261482
