Title :
Design of nonlinear tracking controllers for robots
Author :
Lyshebski, S.E. ; Sinha, A.S.C. ; Rizkalla, Maher
Author_Institution :
Dept. of Electr. Eng., Purdue Univ., Indianapolis, IN, USA
Abstract :
This paper reports an innovative synthesis procedure to design nonlinear tracking control algorithms for robotic manipulators. The nonlinear mathematical model is used. It is shown that the offered controller ensures robust tracking and stability. Analytical and numerical studies are performed to design a nonlinear controller and to analyze the manipulator dynamics. An example is given to illustrate the method reported. In particular, the transient dynamics and tracking performance are studied for a two-link robot
Keywords :
control system synthesis; manipulator dynamics; nonlinear control systems; robust control; tracking; nonlinear tracking controller design; robotic manipulators; robust stability; robust tracking; transient dynamics; two-link robot; Algorithm design and analysis; Differential equations; Erbium; Feedback; Manipulator dynamics; Performance analysis; Robot control; Robot kinematics; Robust control; Robust stability;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.806735
