STABILIZATION OF UNCERTAIN SYSTEMS SUBJECT TO HARD BOUNDS ON CONTROL WITH APPLICATION TO A ROBOT MANIPULATOR

被引：9

作者：

HACHED, M ^{[1
]}

MADANIESFAHANI, SM ^{[1
]}

ZAK, SH ^{[1
]}

机构：

[1] PURDUE UNIV,DEPT ELECT ENGN,W LAFAYETTE,IN 47907

来源：

IEEE JOURNAL OF ROBOTICS AND AUTOMATION | 1988年 / 4卷 / 03期

关键词：

COMPUTER SIMULATION - CONTROL SYSTEMS; LINEAR; -; ROBOTS; INDUSTRIAL; Manipulators;

D O I：

10.1109/56.792

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of estimating the region of stability for uncertain systems with bounded controllers and the sliding mode requirement is examined. A novel type of controller for a class of linear time-invariant systems subject to uncertainties is proposed. A transformation for decoupling the fast and slow states is utilized to investigate the stability-domain estimates of the system. The results are then applied to a two-joint planar manipulator and illustrated by computer simulation.

引用

页码：310 / 323

页数：14

共 11 条

[1]

HOLLERBACH JM, 1984, T ASME, V106, P102

[2] RICCATI EQUATION FOR BLOCK-DIAGONALIZATION OF ILL-CONDITIONED SYSTEMS [J].