Robust linear compensator design for nonlinear robotic control
- 1 August 1987
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 3 (4) , 345-351
- https://doi.org/10.1109/jra.1987.1087110
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.Keywords
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