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Robust tracking control for robot systems with discontinuous uncertainty: an approach based on Filippov's framework
Author(s) -
Nakakuki Takashi,
Shen Tielong,
Tamura Katsutoshi
Publication year - 2008
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.20303
Subject(s) - control theory (sociology) , controller (irrigation) , lipschitz continuity , stability theory , robust control , tracking error , lyapunov stability , mathematics , tracking (education) , set (abstract data type) , lyapunov function , robot , stability (learning theory) , control (management) , computer science , control system , engineering , artificial intelligence , nonlinear system , mathematical analysis , physics , psychology , pedagogy , electrical engineering , quantum mechanics , machine learning , agronomy , biology , programming language
In this paper, the robust tracking control problem for a rigid robot with discontinuous uncertainty is considered. The controller design approach is based on Filippov's framework and generalized Lyapunov stability theory. It is shown that no Lipschitz continuous controller to stabilize the error system asymptotically exists because of the existence of nontrivial equilibrium set including the origin. A robust controller which makes the error system asymptotically stable is derived in Filippov's framework. © 2008 Wiley Periodicals, Inc. Electr Eng Jpn, 164(4): 53–61, 2008; Published online in Wiley InterScience ( www. interscience.wiley.com ). DOI 10.1002/eej.20303