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Robust linear compensator design for nonlinear robotic control
Abstract
The motion control of robotic manipulators is investigated using a recently developed approach to linear multivariable control known as the stable factorization approach. 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. Using a multiloop version of the small gain theorem, robust trajectory tracking is shown under the assumption that the deviation of the model from the true system satisfies certain norm inequalities. In turn, these norm inequalities lead to quantifiable bounds on the tracking error.
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Citations
Cited by
Adaptive motion control of rigid robots: A tutorial
Ortega, R., & Spong, M. W. (1989) · Automatica · doi:10.1016/0005-1098(89)90054-x · Cited by 1,238
Self-citationJin, M., Lee, J., Chang, P. H., & Choi, C. (2009) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2009.2024097 · Cited by 428
Survey of robust control for rigid robots
(1991) · IEEE Control Systems · doi:10.1109/37.67672 · Cited by 389
Metadata
- Authors
- Spong, M., & Vidyasagar, M.
- Venue
- IEEE Journal on Robotics and Automation
- Published
- 1987-08
- Volume
- 3
- Issue
- 4
- Pages
- 345-351
- ISSN
- 0882-4967 (ISSN-L)
- OpenAlex
- W2104752886
- Cited by
- 236
- References
- 0
- FWCI
- 22.74
- Type
- journal article
- Language
- en
- Open access
- closed
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- Spong, M., & Vidyasagar, M. (1987). Robust linear compensator design for nonlinear robotic control. IEEE Journal on Robotics and Automation. https://doi.org/10.1109/jra.1987.1087110
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
