Robustness of the minimal control synthesis algorithm to non-linear plant with regard to the position control of manipulators

DOI10.1080/002071799220263MaRDI QIDQ4485307zbMATH OpenOpenAlexFDO

Authors S. P. Hodgson, David P. Stoten

Publication date 12 June 2000

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/002071799220263

zbMATH Keywords

control of manipulatorsdecentralized algorithmsdisturbancesminimal control synthesispassivitystability

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Decentralized systems (93A14) Sensitivity (robustness) (93B35) Synthesis problems (93B50) Automated systems (robots, etc.) in control theory (93C85) Robust stability (93D09)

Review text

The present paper presents more rigorous proofs of robustness of the minimal control synthesis (MCS) and decentralized MCS (DMCS) algorithms which are applied to plant subject to internal state-independent nonlinear disturbances. The stability result is extended also to the position control of manipulators composed of prismatic and revolute joints using the passive structure of manipulator dynamics.

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Cited in

(7)

• Robustness of a minimal controller synthesis algorithm
• Predictor-corrector procedures for pseudo-dynamic tests
• The application of the minimal control synthesis algorithm to the hybrid control of a class 1 manipulator
• The decentralized minimal controller synthesis algorithm
• The extended minimal controller synthesis algorithm
• Passivity-based analysis of the decentralized and extended minimal control synthesis algorithms
• Passivity-based analysis of the minimal control synthesis algorithm

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