Title :
Survey of robust control for rigid robots
Author :
Abdallah, C. ; Dawson, D. ; Dorato, P. ; Jamshidi, M.
Author_Institution :
CAD Lab. for Syst. & Robotics, New Mexico Univ., Albuquerque, NM, USA
Abstract :
Current approaches to the robust control of the motion of rigid robots are surveyed, and the available literature is summarized. The five major design approaches discussed are the linear-multivariable approach, the passivity approach, the variable-structure approach, the saturation approach, and the robust-adaptive approach. Some guidelines for choosing a method are offered.<>
Keywords :
reviews; robots; stability; linear-multivariable control; passivity control; rigid robots; robust control; robust-adaptive control; saturation control; variable-structure control; Adaptive control; Control systems; Equations; Lagrangian functions; Programmable control; Robot control; Robot kinematics; Robust control; Robustness; Uncertainty;
Journal_Title :
Control Systems, IEEE
