Linear state feedback regulator for rigid link manipulators

被引：3

作者：

Abouelsoud, AA

Sultan, MA

Hassan, MF

机构：

[1] Cairo Univ, Giza

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1996年 / 15卷 / 03期

关键词：

rigid link manipulators; regulators; state feedback; point-to-point control; linearization; exponential stability; robustness;

D O I：

10.1007/BF00572264

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A new generic representation of the gravity vector in the rigid link robot dynamic model is proposed. We use this representation to design a linear state feedback regulator and show that the closed loop nonlinear system is globally asymptotically stable and exponentially stable in any closed ball. We exploit the fact that the gravity vector is the gradient of the potential function. We also consider robustness of the linear state feedback regulator to parameter uncertainty.

引用

页码：291 / 305

页数：15

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