• DocumentCode
    757218
  • 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
  • Volume
    33
  • Issue
    1
  • fYear
    1988
  • fDate
    1/1/1988 12:00:00 AM
  • Firstpage
    118
  • Lastpage
    122
  • 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;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/9.375
  • Filename
    375
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=757218