Robust tracking control for rigid robotic manipulators

The problem of robust tracking control using a nominal feedback controller and a variable structure compensator for a rigid robotic manipulator with uncertain dynamics is addressed in this note. It is shown that the effects of large system uncertainties can be eliminated and asymptotic convergence o...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on automatic control 1994-01, Vol.39 (1), p.154-159
Main Authors: Man Zhihong, Palaniswami, M.
Format: Article
Language:English
Subjects:
Applied sciences
Automatic control
Circuits
Computer science
control theory
systems
Control systems
Control theory. Systems
Exact sciences and technology
Feedback
Manipulators
Polynomials
Robot control
Robotics
Robotics and automation
Robust control
Robust stability
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The problem of robust tracking control using a nominal feedback controller and a variable structure compensator for a rigid robotic manipulator with uncertain dynamics is addressed in this note. It is shown that the effects of large system uncertainties can be eliminated and asymptotic convergence of the output tracking error can be guaranteed by using a variable structure compensator in the closed loop feedback control system for the rigid robotic manipulator.< >
ISSN:0018-9286
1558-2523
DOI:10.1109/9.273355