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Robust tracking control of robot manipulators

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IEEE Press, 1996 - 233 pages

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Table des matières

Robust Control
1
Dynamics of Robotic Systems
11
Mathematical Preliminaries
27
Droits d'auteur

7 autres sections non affichées

Autres éditions - Tout afficher

Robust tracking control of robot manipulators
Robust tracking control of robot manipulators
Zhihua Qu,D. M. Dawson
Affichage d'extraits - 1996

Expressions et termes fréquents

actuator dynamics adaptive control Assumption asymptotic stability Automatic Control boundedness bounding function Chapter chosen computed torque control constant control gain control law control of robot control schemes convergence defined derivative desired trajectory differential differential inequality equation error system exponential feedback linearization feedforward flexible-joint robots follows global stability guarantee IEEE IEEE Transactions inequality initial conditions iterative learning control Lemma linear control linear robust controls Lyapunov equation Lyapunov function Lyapunov stability Lyapunov's direct method magnitude minmax control negative definite nonlinear dynamics nonlinear learning control nonlinear robust control nonlinear systems optimal control PD control performance index polynomial-type control positive definite Riccati equation robot dynamics robotic manipulators robotic systems Robotics and Automation robust control design robust stability saturation-type control shown stability region stability results theorem time-varying torque level tracking error Transactions on Automatic trol ultimate bound uniform ultimate boundedness uniformly bounded unmodeled dynamics upper bound variables vector zero

Informations bibliographiques

QR code for Robust tracking control of robot manipulators
TitreRobust tracking control of robot manipulators
AuteursZhihua Qu, D. M. Dawson
CollaborateurD. M. Dawson
ÉditeurIEEE Press, 1996
ISBN0780310659, 9780780310650
Longueur233 pages
  
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