Title :
A controller based on coefficient diagram method for the robotic manipulators
Author :
Uçar, A. ; Hamamci, S.E.
Author_Institution :
Dept. of Electr-Electron. Eng., Firat Univ., Elazig, Turkey
Abstract :
In this paper a controller based on coefficient diagram method is introduced developed for robotic manipulators. The significant property of this controller is the designer can design the controller simultaneously taking a good balance of stability, response, and robustness. The closed loop performance is illustrated for a manipulator with a bounded disturbance
Keywords :
closed loop systems; control system synthesis; manipulators; polynomials; robust control; stability criteria; bounded disturbance; closed loop performance; coefficient diagram method; controller design; response; robotic manipulators; robustness; stability; Differential equations; Manipulator dynamics; Nonlinear dynamical systems; Polynomials; Robots; Robust control; Robust stability; Uncertainty; Vehicle dynamics; Weight control;
Conference_Titel :
Electronics, Circuits and Systems, 2000. ICECS 2000. The 7th IEEE International Conference on
Conference_Location :
Jounieh
Print_ISBN :
0-7803-6542-9
DOI :
10.1109/ICECS.2000.912992
