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Optimal Robust Control of Robotic Systems
Author(s) -
Kiriazov P.
Publication year - 2003
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200310031
Subject(s) - robustness (evolution) , control theory (sociology) , bounded function , diagonal , robust control , computer science , control (management) , mathematical optimization , control system , mathematics , engineering , artificial intelligence , mathematical analysis , biochemistry , chemistry , geometry , electrical engineering , gene
There are continuously increasing demands to robotic systems (RS) for faster operation, higher accuracy, and lower energy cost. For the purpose of feedback stabilization, we design decentralized controllers with maximum degree of robustness. The control design criterion is based on a generalized diagonal dominant (GDD) condition proven to be necessary and su.cient for such controllers to be robust against arbitrary, but bounded, disturbances. It is defined by optimal trade‐off relations between the bounds of disturbances, the required accuracy, and the control force limits.