Logo image
Back
Robust nonlinear reduced-order dynamic controller design and its application to a single-link manipulator
Conference proceeding

Robust nonlinear reduced-order dynamic controller design and its application to a single-link manipulator

J.Y. Zhou, R.J. Zhou, Y.Y. Wang and IEEE
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), Vol.2, pp.1149-1154 vol.2
2001
DOI: https://doi.org/10.1109/ROBOT.2001.932766

Abstract

Brushes Control systems DC motors Feedback control Manipulator dynamics Nonlinear dynamical systems Nonlinear systems Robust control Uncertain systems Uncertainty
We focus on the design of robust reduced-order dynamic feedback control for a class of nonlinear systems with uncertainties. A robust nonlinear reduced-order dynamic controller (RNRDC) is proposed. The resulting closed-loop system can be robustly stabilized for all admissible uncertainties via the proposed controller. The application of the proposed RNRDC to a permanent magnet brush DC motor driving a single-link manipulator is also considered. The parameters uncertainties can be up to /spl plusmn/80%. The load can vary ranging from 50% to +100% of the nominal value. Our simulation results show that for the example system the proposed RNRDC can achieve good performance.

Metrics

1 Record Views

Details

Logo image