Name
Abstract | ||
|---|---|---|
The motion control of robotic manipulators is investigated using a recently developed approach to linear multivariable control known as the stable factorization approach. Given a nominal model of the manipulator dynamics, the control scheme consists of an approximate feedback linearizing control followed by a linear compensator design based on the stable factorization approach. Using a multiloop version of the small gain theorem, robust trajectory tracking is shown under the assumption that the deviation of the model from the true system satisfies certain norm inequalities. In turn, these norm inequalities lead to quantifiable bounds on the tracking error. |
Year | DOI | Venue |
|---|---|---|
1987 | 10.1109/JRA.1987.1087110 | Robotics and Automation, IEEE Journal of |
Keywords | Field | DocType |
feedback systems,motion control,nonlinear control,satisfiability,nonlinear systems,robust control,feedback linearization,robot control,small gain theorem,linear approximation | Motion control,Multivariable calculus,Optimal control,Control theory,Nonlinear control,Control engineering,Factorization,Robust control,Small-gain theorem,Mathematics,Tracking error | Journal |
Volume | Issue | ISSN |
3 | 4 | 0882-4967 |
Citations | PageRank | References |
57 | 33.88 | 4 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Spong, M.W. | 1 | 706 | 154.32 |
| Vidyasagar, M. | 2 | 57 | 33.88 |