Stabilization of uncertain systems subject to hard bounds on control with application to a robot manipulator

The problem of estimating the region of stability for uncertain systems with bounded controllers and the sliding mode requirement is examined. A novel type of controller for a class of linear time-invariant systems subject to uncertainties is proposed. A transformation for decoupling the fast and sl...

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Bibliographic Details
Published in:IEEE journal of robotics and automation 1988-06, Vol.4 (3), p.310-323
Main Authors: Hached, M., Madani-Esfahani, S.M., Zak, S.H.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Computer simulation
Control systems
Control theory. Systems
Exact sciences and technology
Manipulators
Orbital robotics
Robot control
Robotics
Stability
State estimation
Uncertain systems
Uncertainty
Variable structure systems
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Summary:The problem of estimating the region of stability for uncertain systems with bounded controllers and the sliding mode requirement is examined. A novel type of controller for a class of linear time-invariant systems subject to uncertainties is proposed. A transformation for decoupling the fast and slow states is utilized to investigate the stability-domain estimates of the system. The results are then applied to a two-joint planar manipulator and illustrated by computer simulation.< >
ISSN:0882-4967
2374-8710
DOI:10.1109/56.792