基于扰动衰减的机械臂控制技术中的稳定性问题

1994 Proceedings of IEEE International Conference on Control and Applications Pub Date : 1994-08-24 DOI:10.1109/CCA.1994.381422

I. Sillitoe, S. Szumko, H. Kreidie

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摘要

本文研究了一种简单而鲁棒的控制技术的实际稳定性，该控制技术的设计基于扰动衰减加稳定。特别地，它考虑了与离散时间形式的控制器实现相关的问题。该方法是用实际结果从GMF S-360工业机械手说明。

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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Stability issues in a disturbance attenuation based technique for manipulator control

This paper investigates the practical stability of a simple and yet robust control technique, whose design is based upon disturbance attenuation plus stabilisation. In particular, it considers the problems associated with the implementation of this controller in discrete-time form. The approach is illustrated with practical results taken from a GMF S-360 industrial manipulator.<>

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1994 Proceedings of IEEE International Conference on Control and Applications

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