Journal ArticleDOI
On the robust control of robot manipulators
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In this article, a robust nonlinear control law for n-link robot manipulators is derived using the Lyapunov-based theory of guaranteed stability of uncertain systems, where the uncertainty bounds needed to derive the control law and to prove uniform ultimate boundedness of the tracking error depend only on the inertial parameters of the robot.Abstract:
A simple robust nonlinear control law for n-link robot manipulators is derived using the Lyapunov-based theory of guaranteed stability of uncertain systems. The novelty of this result lies in the fact that the uncertainty bounds needed to derive the control law and to prove uniform ultimate boundedness of the tracking error depend only on the inertial parameters of the robot. In previous results of this type, the uncertainty bounds have depended not only on the inertia parameters but also on the reference trajectory and on the manipulator state vector. The presented result also removes previous assumptions regarding closeness in norm of the computed inertia matrix to the actual inertial matrix. The design used thus provides the simplest such robust design available to date. >read more
Citations
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References
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Journal ArticleDOI
On the adaptive control of robot manipulators
Jean-Jacques E. Slotine,W. Li +1 more
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Journal ArticleDOI
Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
Martin Corless,George Leitmann +1 more
TL;DR: In this article, a class of state feedback controls is proposed in order to guarantee uniform ultimate boundedness of every system response within an arbitrarily small neighborhood of the zero state, and these feedback controls are continuous functions of the state.
Journal ArticleDOI
Adaptive motion control of rigid robots: a tutorial
Romeo Ortega,Mark W. Spong +1 more
TL;DR: The intent is to lend some perspective to the growing list of adaptive control results for manipulators by providing a unified framework for comparison of those adaptive control algorithms which have been shown to be globally convergent.
Journal ArticleDOI
Survey of robust control for rigid robots
TL;DR: In this paper, a survey of the robust control of the motion of rigid robots is presented, including linear-multivariable approach, passivity approach, variable-structure approach, saturation approach, and robust-adaptive approach.
Journal ArticleDOI
On the Efficacy of Nonlinear Control in Uncertain Linear Systems
TL;DR: In this article, the authors consider a class of linear dynamical systems containing uncertain elements and subject to uncertain inputs, and construct a feedback control, utilizing measured state or estimated state, which guarantees that every system response is ultimately bounded within a certain neighborhood of the zero state.