NPD控制的鲁棒性(初步结果)

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI:10.1109/IROS.1997.649106

B. Armstrong

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引用次数: 3

摘要

给出了非线性PD (NPD)控制的鲁棒性结果。根据Xu等人(1995)对NPD控制的性能效益的实验证明和先前建立Lyapunov稳定性的结果，我们检验了NPD控制的鲁棒性，并建立了对参数变化的鲁棒性的最小界。以Sarcos灵巧机械臂为例，给出了其鲁棒控制方法。

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Robustness of NPD control (preliminary results)

Robustness results are presented for nonlinear PD (NPD) control. Drawing on the experimental demonstration by Xu et al. (1995) of the performance benefits of NPD control and previous results establishing Lyapunov stability, the robustness of NPD control is examined and minimum bounds for robustness to parametric variation are established. As an example, robust control of the Sarcos dextrous manipulator is described.

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Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97

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