Attenuation of nonlinearly state-dependent uncertainties: robust control design and its application to robotic manipulators

DOI10.1080/00207179608921829zbMath0841.93070OpenAlexW1973024799MaRDI QIDQ4874630

J. Kaloust, Zhihua Qu

Publication date: 28 April 1996

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

Full work available at URL: https://doi.org/10.1080/00207179608921829

zbMATH Keywords

robust stabilizationrobust controlrobotic manipulatorsLyapunov direct methodnonlinear uncertainties

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Robust stability (93D09)

Cites Work

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• Robust control of robots by the computed torque law
• Global stabilization of nonlinear systems with a class of unmatched uncertainties
• Uncertain dynamical systems--A Lyapunov min-max approach
• State-space solutions to standard H/sub 2/ and H/sub infinity / control problems
• Quadratic stabilizability of linear systems with structural independent time-varying uncertainties
• Robustness of uncertain systems in the absence of matching assumptions
• On ultimate boundedness control of uncertain systems in the absence of matching assumptions
• Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
• Robust tracking control of robots by a linear feedback law

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