Attenuation of nonlinearly state-dependent uncertainties: robust control design and its application to robotic manipulators

DOI10.1080/00207179608921829MaRDI QIDQ4874630zbMATH OpenOpenAlexFDO

Authors J. Kaloust, Zhihua Qu

Publication date 28 April 1996

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

Full work available at URL https://doi.org/10.1080/00207179608921829

zbMATH Keywords

robust controlrobust stabilizationLyapunov direct methodrobotic manipulatorsnonlinear uncertainties

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Robust stability (93D09) Adaptive or robust stabilization (93D21)

Recommendations

• Robust Control of Robotic Manipulators in the Presence of Dynamic Parameter Uncertainty
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• scientific article; zbMATH DE number 88921
• Nonlinear robust and optimal control of robot manipulators
• Robust control of nonlinear systems: compensating for uncertainty
• Robust controller design for a class of nonlinear robot manipulators with actuator dynamics

Cites work

• scientific article; zbMATH DE number 3674497 (Why is no real title available?)
• scientific article; zbMATH DE number 3513598 (Why is no real title available?)
• Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
• Global stabilization of nonlinear systems with a class of unmatched uncertainties
• On ultimate boundedness control of uncertain systems in the absence of matching assumptions
• Quadratic stabilizability of linear systems with structural independent time-varying uncertainties
• Robust control of robots by the computed torque law
• Robust tracking control of robots by a linear feedback law
• Robustness of uncertain systems in the absence of matching assumptions
• State-space solutions to standard H/sub 2/ and H/sub infinity / control problems
• Uncertain dynamical systems--A Lyapunov min-max approach

Cited in

(1)

• Nonlinear robust and optimal control of robot manipulators

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