Title :
Two Nonlinear Robot Controllers for Robust Path Tracking
Author :
Wang, Danwei ; Wen, Changyun ; Wang, Youyi
Author_Institution :
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 2263
Abstract :
In this paper, we present two nonlinear robot controllers for robust path tracking. A nonlinear controller is proposed to consist of a PD type feedback with a coefficient which is nonlinear in the norm of tracking errors. The bounds on the tracking error are specified by control parameters. Another controller of switching type is also considered to eliminate the tracking errors.
Keywords :
Control design; Couplings; Error correction; Feedback; Friction; Manipulator dynamics; Phasor measurement units; Robot control; Robust control; Uncertainty;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
