Electrical & Computer Engineering Faculty Publications
Document Type
Article
Publication Date
2-1-1991
Abstract
Current approaches to the robust control of the motion of rigid robots are surveyed, and the available literature is summarized. The five major design approaches discussed are the linear-multivariable approach, the passivity approach, the variable-structure approach, the saturation approach, and the robust-adaptive approach. Some guidelines for choosing a method are offered.
Publisher
IEEE
Publication Title
Control Systems Magazine
ISSN
1066-033X
Volume
11
Issue
2
First Page
24
Last Page
30
DOI
10.1109/37.67672
Language (ISO)
English
Sponsorship
IEEE
Keywords
Adaptive control, Control systems, Lagrangian functions, Programmable control
Recommended Citation
Abdallah, Chaouki T.; D. Dawson; Peter Dorato; and M. Jamshidi.
"Survey of robust control for rigid robots."
Control Systems Magazine
