Robust control of robots by the computed torque law

DOI10.1016/0167-6911(91)90025-AzbMath0737.93052MaRDI QIDQ1175506

Xinfan Zhang, John F. Dorsey, Zhihua Qu, Darren M. Dawson

Publication date: 25 June 1992

Published in: Systems \& Control Letters (Search for Journal in Brave)

zbMATH Keywords

robotic manipulatorsrobot controlfeedback gainscomputed torque control law

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

Related Items (8)

An enhanced scheme for the model-based control of robot manipulators ⋮ Attenuation of nonlinearly state-dependent uncertainties: robust control design and its application to robotic manipulators ⋮ Exponentially stable trajectory following of robotic manipulators under a class of adaptive controls ⋮ An addendum on Robust control of robots by the computed torque method ⋮ Bibliography on robust control ⋮ Practical stabilization of a class of nonlinear systems with partially known uncertainties ⋮ Design of robust PD‐type control laws for robotic manipulators with parametric uncertainties ⋮ Global stability of trajectory tracking of robot under \(PD\) control

Cites Work

• Unnamed Item
• Uncertain dynamical systems--A Lyapunov min-max approach
• Robust control of a class of non-linear systems and applications to robotics
• Robust control for the tracking of robot motion
• Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
• Robust tracking control of robots by a linear feedback law
• <tex>L_infty</tex>-stability criteria for interconnected systems using exponential weighting

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