Title :
On L2- and L∞-stability approaches for the robust control of robot manipulators
Author :
Becker, Norbert ; Grimm, Wolfgang M.
Author_Institution :
Inst. fuer Mess- und Regelungstech., Duisburg Univ., West Germany
fDate :
1/1/1988 12:00:00 AM
Abstract :
Robustness results were recently obtained for the linear and nonlinear control of robot manipulators using the L2- and L ∞-stability approaches, respectively. Critical remarks on these approaches and further investigations are presented. In order to investigate L2-stability, it is shown that additional assumptions have to be made and a reformulation of the control problem has to be carried out
Keywords :
linear systems; nonlinear control systems; robots; stability; L∞-stability; L2-stability; linear control; nonlinear control; robot manipulators; robust control; Adaptive control; H infinity control; Kernel; Manipulators; Programmable control; Robotics and automation; Robots; Robust control; Robust stability; Robustness;
Journal_Title :
Automatic Control, IEEE Transactions on
