Catalogo Articoli (Spogli Riviste)

OPAC HELP

Titolo:
MODEL-BASED FEEDFORWARD PRECOMPENSATION AND VS-TYPE ROBUST NONLINEAR POSTCOMPENSATION FOR UNCERTAIN ROBOTIC SYSTEMS WITH WITHOUT KNOWLEDGE OF UNCERTAINTY BOUNDS .1./
Autore:
YOU SS; JEONG SW;
Indirizzi:
KOREA MARITIME UNIV,DEPT MECH ENGN,YEONGDO KU PUSAN 606791 SOUTH KOREA PUKYONG NATL UNIV,RES CTR OCEAN IND DEV PUSAN SOUTH KOREA
Titolo Testata:
KSME journal
fascicolo: 3, volume: 10, anno: 1996,
pagine: 296 - 304
SICI:
1011-8861(1996)10:3<296:MFPAVR>2.0.ZU;2-C
Fonte:
ISI
Lingua:
ENG
Soggetto:
ADAPTIVE-CONTROL; MANIPULATORS;
Keywords:
UNCERTAIN ROBOT; MOTION TRACKING; PRECOMPENSATION (POSTCOMPENSATION); VARIABLE STRUCTURE (VS); ROBUST NONLINEAR CONTROL; DETERMINISTIC APPROACH; NORMS; STRUCTURED (UNSTRUCTURED) UNCERTAINTIES; LYAPUNOV STABILITY; UNIFORM ULTIMATE BOUNDEDNESS (UUB); CHATTERING;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Science Citation Index Expanded
Citazioni:
12
Recensione:
Indirizzi per estratti:
Citazione:
S.S. You e S.W. Jeong, "MODEL-BASED FEEDFORWARD PRECOMPENSATION AND VS-TYPE ROBUST NONLINEAR POSTCOMPENSATION FOR UNCERTAIN ROBOTIC SYSTEMS WITH WITHOUT KNOWLEDGE OF UNCERTAINTY BOUNDS .1./", KSME journal, 10(3), 1996, pp. 296-304

Abstract

In this paper, a robust motion tracking control algorithm for roboticmanipulators is proposed where the higher-order system uncertainties are taken into account. The control structure consists of two main parts: a model-based precompensation part and a robust nonlinear controller one. Specifically, with knowledge of possible upper bounds on uncertainties, we propose the nonadaptive version of robust controller. Stability and robustness issues of the controllers have been investigatedvia a Lyapunov method and it is shown that the proposed control algorithms are highly robust in the presence of significant system uncertainties. Finally, the computer simulation results are presented to validate the proposed algorithm.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 30/03/20 alle ore 19:47:53