电动机械臂L/sub /增益鲁棒跟踪控制的Lyapunov递归设计

Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328) Pub Date : 1999-08-22 DOI:10.1109/CCA.1999.807851

C. Ishii, S. Shen, Z. Qu

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引用次数: 10

摘要

针对具有不确定性的电驱动刚性连杆机器人的鲁棒跟踪控制问题，提出了一种新的Lyapunov递归设计方法。该策略的新颖之处在于递归构造这样的Lyapunov函数，既保证了跟踪误差系统的稳定性，又保证了跟踪性能的L/sub /增益约束。

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Lyapunov recursive design of robust tracking control with L/sub 2/-gain performance for electrically-driven robot manipulators

This paper develops a new Lyapunov recursive design for the robust tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty. The novelty is in the strategy to construct such a Lyapunov function recursively that ensures not only stability of a tracking error system but also an L/sub 2/-gain constraint for the tracking performance.

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Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)

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