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ROBUST GUARANTEED COST CONTROL OF UNCERTAIN NON‐LINEAR ROBOTIC SYSTEM USING MIXED MINIMUM TIME AND QUADRATIC PERFORMANCE INDEX
Author(s) -
Kaloust J.,
Qu Z.
Publication year - 1995
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/j.1099-1514.1995.tb00019.x
Subject(s) - bounding overwatch , control theory (sociology) , revolute joint , robust control , quadratic equation , lyapunov function , computer science , index (typography) , mathematical optimization , control (management) , stability (learning theory) , robot , mathematics , control system , engineering , nonlinear system , artificial intelligence , physics , geometry , quantum mechanics , machine learning , electrical engineering , world wide web
SUMMARY To provide better transient performance in controlling robots, a mixed minimum time and quadratic performance index is used. For known and uncertain revolute robot manipulators a conventional optimal control and a robust guaranteed cost control are proposed respectively. Asymptotic stability is also discussed based on the Lyapunov direct method. The proposed robust control is continuous and requires no knowledge of the uncertain system except for bounding functions.