Robot trajectory control: Robust outer loop design using a linear controller

DOI10.1007/BF02169428MaRDI QIDQ1179530zbMATH OpenFDO

Authors R. M. Dolphus, William E. Schmitendorf

Publication date 26 June 1992

Published in Dynamics and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/BF02169428

zbMATH Keywords

single link robottwo-link robots

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Review text

The paper under review considers trajectory control of robotic manipulators using a robust linear control law. For a system with unknown but bounded parameters an inverse dynamic control scheme that consits of a linearizing control (inner loop) based on a nominal system, and a robust linear feedback control (outer loop) based on the uncertainty bounds are implemented. The combined system achieves partical tracking. The approach is demonstrated on single-link and two-link robots.

Recommendations

• Robust control of robot manipulator in task space
• Robust adaptive trajectory tracking independent of models for robotic manipulators
• Robust Trajectory Tracking Control of Elastic Robot Manipulators
• Robust tracking control of robot manipulators using only joint position measurements
• Robust controller design for a class of nonlinear robot manipulators with actuator dynamics

Cites work

• On the Efficacy of Nonlinear Control in Uncertain Linear Systems
• Tracking Controllers for Uncertain Systems: Application to a Manutec R3 Robot

Cited in

(13)

• Disturbance attenuation and trajectory tracking via a reduced-order output feedback controller for robot manipulators
• A Riccati equation approach to the design of linear robust controllers
• Stability analysis for a class of linear controllers under control constraints
• Robot robust path tracking
• Robust state/output feedback linearization of direct drive robot manipulators: a controllability and observability analysis
• Design of robust trajectory tracking controller for robotic systems
• Non-linear control of advanced direct drive robots: Theory and experiments
• Robust control of robot manipulator in task space
• scientific article; zbMATH DE number 3926746 (Why is no real title available?)
• Linear learning control of robot motion
• A simple linear stabilizing controller for a RLED robot with uncertain parameters and some related applications
• Robust Trajectory Tracking Control of Elastic Robot Manipulators
• A cross-coupling controller using anH? scheme and its application to a two-axis direct-drive robot

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