Decentralized robust control of mechanical systems

被引：99
|
作者：
Tang, Y [1 ]
Tomizuka, M
Guerrero, G
Montemayor, G
机构：
[1] Univ Nacl Autonoma Mexico, Univ Nacl Autonoma Mexico, DEPFI, Mexico City 04510, DF, Mexico
[2] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2000年 / 45卷 / 04期
关键词：
decentralized control; large scale systems; mechanical systems; robot manipulators; robust control;
D O I：
10.1109/9.847120
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For mechanical systems described by Euler-Lagrange equations and involving high-order interconnections, this paper proposes a decentralized control, which guarantees the uniform ultimate stability when the control objective is tracking a smooth desired trajectory. The controller design is based on some physical properties of such systems and Lyapunov design methodology [3]. The application of the proposed controller to robot manipulators is presented, and experiment results are included to illustrate the performance of the proposed control algorithm.
引用
收藏
页码：771 / 776
页数：6
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