Robust binary control of robotic systems
The application to a robotic system of a robust control technique, framed in the context of the binary theory are reported and discussed. With this technique, the robustness and insensitivity to external disturbances typical of variable structure systems may be obtained along with the possibility of an arbitrary reduction of the associated chattering phenomenon. This is achieved with a standard sliding mode control with an additional integral switching action which behaves as an observer for parametric and exogenous disturbances. The experimental data obtained on the WAM (Whole-Arm Manipulation) robotic system, are discussed, seems to confirm this expectations and encourage further work in both theoretical and application-oriented directions. For the entire collection see [Zbl 0745.00051].
- Optimal Robust Control of Robotic Systems
- On the robust control of robot manipulators
- Robust control of a class of non-linear systems and applications to robotics
- Robust Control of Robots
- scientific article; zbMATH DE number 5296981
- scientific article; zbMATH DE number 33507
- scientific article; zbMATH DE number 2158090
- scientific article; zbMATH DE number 882014
- scientific article; zbMATH DE number 45328
- Robustness of adaptive control of robots
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