Robust motion tracking control of robotic arms based on the generalized energy accumulation principle

Y. D. SONG; J. N. ANDERSON; A. HOMAIFAR; H. Y. LAI

doi:10.1109/CDC.1992.371182

Robust motion tracking control of robotic arms based on the generalized energy accumulation principle

Y. D. SONG
, J. N. ANDERSON
, A. HOMAIFAR
, H. Y. LAI

Research output: Book Chapters | Papers in Conference Proceedings › Conference (Extended Abstracts) › peer-review

Abstract

A rigid-link robot with a dynamic model that includes a bounded external disturbance is considered. The objective addressed is to find a control strategy that is simple to implement, easy to code for programming, and robust to possible time-varying uncertainties.

Original language	English
Title of host publication	Proceedings of the 31st IEEE Conference on Decision and Control
Publisher	IEEE
Pages	1417-1418
Number of pages	2
ISBN (Print)	0780308727
DOIs	https://doi.org/10.1109/CDC.1992.371182
Publication status	Published - 1992
Externally published	Yes

Funding

This work was partly supported by NASA grant NAGW-2924.

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10.1109/CDC.1992.371182

http://ieeexplore.ieee.org/document/371182/

Cite this

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title = "Robust motion tracking control of robotic arms based on the generalized energy accumulation principle",

abstract = "A rigid-link robot with a dynamic model that includes a bounded external disturbance is considered. The objective addressed is to find a control strategy that is simple to implement, easy to code for programming, and robust to possible time-varying uncertainties.",

author = "SONG, \{Y. D.\} and ANDERSON, \{J. N.\} and A. HOMAIFAR and LAI, \{H. Y.\}",

year = "1992",

doi = "10.1109/CDC.1992.371182",

language = "English",

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T1 - Robust motion tracking control of robotic arms based on the generalized energy accumulation principle

AU - SONG, Y. D.

AU - ANDERSON, J. N.

AU - HOMAIFAR, A.

AU - LAI, H. Y.

PY - 1992

Y1 - 1992

N2 - A rigid-link robot with a dynamic model that includes a bounded external disturbance is considered. The objective addressed is to find a control strategy that is simple to implement, easy to code for programming, and robust to possible time-varying uncertainties.

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U2 - 10.1109/CDC.1992.371182

DO - 10.1109/CDC.1992.371182

M3 - Conference (Extended Abstracts)

SN - 0780308727

SP - 1417

EP - 1418

BT - Proceedings of the 31st IEEE Conference on Decision and Control

PB - IEEE

ER -

Robust motion tracking control of robotic arms based on the generalized energy accumulation principle

Abstract

Funding

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