Roboust nonlinear control of robot manipulators
- 1 December 1985
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. ac 25, 1767-1772
- https://doi.org/10.1109/cdc.1985.268862
Abstract
In this paper we investigate the motion control of robotic manipulators using the recently developed stable factorization approach to tracking and disturbance rejection. 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 to achieve optimal tracking and disturbance rejection. Using a multiloop version of the small gain theorem [17], the applicability of the linear design techniques and the stability of the closed loop system are rigorously demonstrated.Keywords
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