基于保成本控制方法的刚性机器人鲁棒控制器设计

1994 Proceedings of IEEE International Conference on Control and Applications Pub Date : 1994-08-24 DOI:10.1109/CCA.1994.381247

S. J. Xu, M. Darouach, J. Schaefers, M. Zasadzinski

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引用次数: 0

摘要

本文提出了一种工业机器人控制器，该控制器在满足被控系统某些规定性能的同时，对某些外部干扰和非建模动力学具有鲁棒性。鲁棒控制器基于保成本控制技术。

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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Robust controller design based on guaranteed cost control approach for rigid robots

In this paper, a controller for industrial robots is proposed, which is robust against some external disturbances and unmodelled dynamics while satisfying the controlled system to some prescriptive performances. The robust controller is based on the guaranteed cost control technique.<>

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1994 Proceedings of IEEE International Conference on Control and Applications

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