Servocompensation of disturbances in robotic systems

DOI10.1080/00207178808906174zbMath0652.93041OpenAlexW1966135366MaRDI QIDQ3798553

Hooshang Hemami, H. J. Buchner

Publication date: 1988

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207178808906174

zbMATH Keywords

robot manipulatorsexternal disturbanceslinear servocompensatorrecursive Volterra series

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Asymptotic stability in control theory (93D20) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Control/observation systems governed by ordinary differential equations (93C15) Series expansions (e.g., Taylor, Lidstone series, but not Fourier series) (41A58)

Related Items (1)

Adaptive nonlinear tracking with complete compensation of unknown disturbances.

Cites Work

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• Linearization by output injection and nonlinear observers
• Robust control of a general servomechanism problem: The servo compensator
• Volterra series and geometric control theory
• The feedforward control of linear multivariable time-invariant systems
• On Finite Volterra Series and a Theorem of P. Crouch
• Nonlinear Observers with Linearizable Error Dynamics
• Tracking and disturbance rejection of MIMO nonlinear systems with PI controller
• Output tracking in multivariable nonlinear systems
• The design of controllers for the multivariable robust servomechanism problem using parameter optimization methods

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