控制有硬界的不确定系统的镇定及其在机械臂上的应用

IEEE J. Robotics Autom. Pub Date : 1988-06-01 DOI:10.1109/56.792

Mehrez Hached, S. Madani-Esfahani, S. Żak

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引用次数: 15

摘要

研究了具有有界控制器和滑模要求的不确定系统的稳定域估计问题。针对一类具有不确定性的线性定常系统，提出了一种新的控制器。利用快速和慢速状态解耦的变换来研究系统的稳定域估计。将所得结果应用于两关节平面机械臂，并进行了计算机仿真。>

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Stabilization of uncertain systems subject to hard bounds on control with application to a robot manipulator

The problem of estimating the region of stability for uncertain systems with bounded controllers and the sliding mode requirement is examined. A novel type of controller for a class of linear time-invariant systems subject to uncertainties is proposed. A transformation for decoupling the fast and slow states is utilized to investigate the stability-domain estimates of the system. The results are then applied to a two-joint planar manipulator and illustrated by computer simulation. >

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IEEE J. Robotics Autom.

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