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Survey of robust control for rigid robots

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/20417

Survey of robust control for rigid robots

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Title: Survey of robust control for rigid robots
Author: Abdallah, Chaouki T.; Dawson, D.; Dorato, Peter; Jamshidi, M.
Subject(s): Adaptive control
Control systems
Lagrangian functions
Programmable control
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.
Date: 1991-02
Publisher: IEEE
Citation: Control Systems Magazine, IEEE, 11(2): 24-30
Description: Digital Object Identifier : 10.1109/37.67672
URI: http://hdl.handle.net/1928/20417
ISSN: 1066-033X

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