Robust linear compensator design for nonlinear robotic control
- 23 March 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 954-959
- https://doi.org/10.1109/robot.1985.1087288
Abstract
In this paper we investigate the application to the motion control of n-link robotic manipulators of 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 multi-loop 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.This publication has 14 references indexed in Scilit:
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