ROBUST TRACKING CONTROL FOR ROBOT MANIPULATORS - THEORY, SIMULATION, AND IMPLEMENTATION

被引：4
作者：
DAWSON, D
QU, Z
DUFFIE, J
机构：
[1] School of Electrical and Computer Engineering, Center for Advanced Manufacturing, Clemson University, Clemson, SC
[2] Department of Electrical Engineering, University of Central Florida, Orlando, FL.
来源：
ROBOTICA | 1993年 / 11卷
基金：
美国国家科学基金会;
关键词：
TRACKING CONTROL; ROBOTS; ROBUST CONTROLLER;
D O I：
10.1017/S0263574700016064
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, we propose a robust controller for the tracking of robot motion. This controller is a nonlinear-based controller that compensates for the uncertainties present in the manipulator dynamic equation. The main result of this paper is that we explicitly show how the response of the tracking error can be modified by adjusting the control parameters. The corresponding stability result for the tracking error is Global Exponential Stability (GES). We then illustrate how similar control approaches are related to the proposed controller. Finally, simulation and experimental results are utilized to illustrate the performance of the robust controller.
引用
收藏
页码：201 / 208
页数：8
相关论文
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