A simple linear stabilizing controller for RLED robot manipulators with uncertain models

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI:10.1109/ACC.1998.703544

A. Ailon, M. Gil', E.S. Choi, B. Ahn

引用次数: 0

Abstract

Considers the stability problem of rigid-link electrically driven (RLED) robot manipulators. We present a linear controller which ensures local exponential stability. As far as the mechanical subsystem is concerned, we assume that only bounds on the unknown parameters are available.

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具有不确定模型的RLED机器人的简单线性稳定控制器

研究了电驱动(RLED)刚性连杆机器人的稳定性问题。提出了一种保证局部指数稳定的线性控制器。就机械子系统而言，我们假设只有未知参数的界是可用的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)

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