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Attenuation of nonlinearly state-dependent uncertainties: robust control design and its application to robotic manipulators

 

作者: Z. QU,   J. KALOUST,  

 

期刊: International Journal of Control  (Taylor Available online 1996)
卷期: Volume 63, issue 1  

页码: 27-40

 

ISSN:0020-7179

 

年代: 1996

 

DOI:10.1080/00207179608921829

 

出版商: Taylor & Francis Group

 

数据来源: Taylor

 

摘要:

Attenuation of nonlinear uncertainties using robust control is considered. A system under investigation has a linear nominal part and a nonlinear lumped uncertainty. Robust control is designed using the Lyapunov direct method. It is shown that the proposed control is continuous, guarantees global stability without knowledge of nonlinear dynamics except their size bounding function, and ensures a finite upper bound on the attenuation performance index over an infinite horizon. That is, the proposed control is both robust and optimal. As an application, it is shown that the proposed control can be directly applied to robotic manipulators and many other nonlinear systems.

 

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