Title :
Survey of the Robust Control of Robots
Author :
Abdallah, C. ; Dorato, P. ; Jamshidi, K.
Author_Institution :
CAD Laboratory for Systems and Robotics, Electrical and Computer Engineering Department, University of New Mexico, Albuquerque, NM 87131.
Abstract :
In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable" Approach, the "Passivity" approach and the "Variable-Structure" approach. The survey is limited to rigid robots and nonadaptive controllers.
Keywords :
Adaptive control; Control systems; Equations; Gravity; Lagrangian functions; Robot control; Robot kinematics; Robust control; Symmetric matrices; Tellurium;
Conference_Titel :
American Control Conference, 1990
Conference_Location :
San Diego, CA, USA
