• DocumentCode
    347922
  • Title

    Lyapunov recursive design of robust tracking control with L2 -gain performance for electrically-driven robot manipulators

  • Author

    Ishii, Chiharu ; Shen, Tielong ; Qu, Zhihua

  • Author_Institution
    Ashikaga Inst. of Technol., Japan
  • Volume
    1
  • fYear
    1999
  • fDate
    1999
  • Firstpage
    863
  • Abstract
    This paper develops a new Lyapunov recursive design for the robust tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty. The novelty is in the strategy to construct such a Lyapunov function recursively that ensures not only stability of a tracking error system but also an L2-gain constraint for the tracking performance
  • Keywords
    Lyapunov methods; control system synthesis; manipulator dynamics; robust control; tracking; L2-gain performance; Lyapunov function; Lyapunov recursive design; electrically-driven robot manipulators; rigid-link; robust tracking control; tracking error system stability; uncertainty; Actuators; Adaptive control; Centralized control; Control systems; Manipulator dynamics; Nonlinear dynamical systems; Robot control; Robust control; Stability; Voltage;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
  • Conference_Location
    Kohala Coast, HI
  • Print_ISBN
    0-7803-5446-X
  • Type

    conf

  • DOI
    10.1109/CCA.1999.807851
  • Filename
    807851
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=347922