Robust Tracking in Nonlinear Systems

IEEE Transactions on Automatic Control

Volumn 32, Issue 9, 1987, Pages 763-771

  Ha, In Joong ^a   Gilbert, Elmer G ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEMS, MULTIVARIABLE - MATHEMATICAL MODELS; ROBOTS, INDUSTRIAL - MANIPULATORS;

MODELING ERRORS; MULTIVARIABLE TRACKING ERROR; TWO-DEGREES-OF-FREEDOM MANIPULATOR;

CONTROL SYSTEMS, NONLINEAR;

EID: 0023422014     PISSN: 00189286     EISSN: 15582523     Source Type: Journal    
DOI: 10.1109/TAC.1987.1104710     Document Type: Article

References (35)

1. A. Balestrino, G. De Maria, and L. Sciavicco, “An adaptive model following control for robotic manipulators,” ASME J. Dynam. Syst. Meas. Contr. vol. 105, pp. 143–151, 1983.
2. B. R. Barmish and G. Leitmann, “On ultimate boundedness control of uncertain systems in the absence of matching assumptions,” IEEE Trans. Automat. Contr., vol. AC-27, pp. 153–158, 1982.
3. L. G. Chouinard. J. P. Dauer, and G. Leitmann. “Properties of matrices used in uncertain linear control systems.” SIAM J. Contr. Opt., vol. 23, pp. 381–389, 1985.
4. M. J. Corless and G. Leitmann, “Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems,” IEEE Trans. Automat. Contr., vol. AC-26, pp. 1139–1144, 1981.
5. M. Corless. G. Leitmann. and E. P. Ryan, “Tracking in the presence of bounded uncertainties,” in Proc. 4th Int. Conf. Contr. Theory, Cambridge University, Cambridge, England, 1984.
6. J. Dieudonne, Foundation of Modern Analysis. New York: Academic, 1969.
7. S. Dobowsky and D. T. DesForges, “The application of model-referenced adaptive control to robotic manipulators,” ASME J. Dynam. Syst. Meas., Contr., vol. 101, pp. 193–200, 1979.
8. T. A. W. Dwyer. “Exact nonlinear control of large angle rotational maneuvers.” IEEE Trans. Automat. Contr., vol. AC-29, pp. 769–774, 1984.
9. H. Elliott. T. Depkovich, J. Kelly, and B. Draper, “Nonlinear adaptive control of mechanical linkage systems with application to robotics,” in Proc. Amer. Contr. Conf., 1983.
10. E. G. Gilbert and I. J. Ha. “An approach to nonlinear feedback control with applications to robotics,” IEEE Trans. Syst. Man Cybern., vol. SMC-14. pp. 879–884, 1984.
11. S. Gutman, “Uncertain dynamical systems—A Lyapunov min-max approach,” IEEE Trans. Automat. Contr. vol. AC-24, pp. 437–443, 1979.
12. I. J. Ha, “Nonlinear decoupling theory with applications to robotics,” Ph.D. dissertation, Univ. Michigan, Ann Arbor. CRIM Rep. RSD-TR-8-85, 1985.
13. W. Hahn, Stability of Motion. New York: Springer-Verlag, 1967.
14. R. Horowitz and M. Tomizuka. “An adaptive control scheme for mechanical manipulators—compensation of nonlinearity and decoupling control,” The American Society of Mechanical Engineers, Winter Annual Meeting, 1980, Paper 80 Wa/DSC-6.
15. L. R. Hunt, R. Su, and G. Meyer, “Global transformations of nonlinear systems,” IEEE Trans. Automat. Contr., vol. AC-28, pp. 24–31, 1983.
16. —, “Design for multi-input nonlinear systems,” in Proc. Differential Geom. Contr. Theory Conf., Birkhauser, Boston, 1983, pp. 268–298.
17. A. Isidori, A. J. Krener, C. Gori-Giorgi, and S. Monaco, “Nonlinear decoupling via feedback: A differential geometric approach,” IEEE Trans. Automat. Contr., vol. AC-26, pp. 331–345, 1981.
18. A. J. Koivo and T. H. Guo, “Adaptive linear controller for robotic manipulators,” IEEE Trans. Automat. Contr., vol. AC-28, pp. 162–171, 1983.
19. J. P. LaSalle and S. Lefschetz, Stability by Lyapunov's Direct Method with Applications. New York: Academic, 1961.
20. C. S. G. Lee and M. J. Chung, “An adaptive control strategy for computer based manipulators,” IEEE Trans. Automat. Contr., vol. AC-29, pp. 837–840, 1984.
21. G. Leitmann, “On the efficacy of nonlinear control in uncertain linear systems,” ASME J. Dynam. Syst., Meas., Contr., v ol. 102, pp. 95–102, 1981.
22. J. Y. S. Luh, M. W. Walker, and R. P. Paul, “Resolved acceleration control of mechanical manipulators,” IEEE Trans. Automat. Contr., vol. AC-25, pp. 468-474, 1980.
23. S. Nicosia and P. Tomei, “Model references adaptive control algorithms for industrial robots,” Automatica, vol. 20, pp. 635–644, 1984.
24. R. P. Paul, Robotic Manipulation. Cambridge, MA: M.I.T. Press, 1981.
25. E. P. Ryan, G. Leitmann, and M. Corless, “Practical stabilizability of uncertain dynamical systems: Application to robotic tracking,” J. Optimiz. Theory Appl., vol. 47, pp. 235–252, 1985.
26. C. Samson, “Robust nonlinear control of robotic manipulators,” in Proc. IEEE Conf. Decision Contr., 1983.
27. D. D. Siljak, “Multilevel stabilization of large-scale systems: A spinning flexible spacecraft,” Automatica, vol. 12, 1976, pp. 309–320.
28. J. J. Slotine and S. S. Sastry, “Tracking control of nonlinear systems using sliding surfaces with application to robot manipulators,” Int. J. Contr., vol. 38, pp. 465–492, 1983.
29. J. J. Slotine, “The robust control of robot manipulators,” Int. J. Robotics Research, vol. 4, no. 2, pp. 49–64, 1985.
30. M. W. Spong, “Torque optimization for robust control of robot manipulators,” SME Conf. on Robotics Research: The Next Five Years and Beyond, 1984.
31. M. W. Spong, J. S. Thorp, and J. M. Kleinwaks, “The control of robot manipulators with bounded input, Part II: Robustness and disturbance rejection,” in Proc. IEEE Conf. Decision Contr., 1984.
32. M. W. Spong and M. Vidyasagar, “Robust linear compensator design for nonlinear robotic control,” in Proc. IEEE Conf. Robotics and Automat., 1985, pp. 954–959,
33. V. I. Utkin, “Variable structure systems with sliding mode: A survey,” IEEE Trans. Automat. Contr., vol. AC-22, pp. 212–222, 1977.
34. M. Vukobratović, D. Stokić, and N. Kirćanski, “Towards nonadaptive and adaptive control of manipulation robots,” IEEE Trans. Automat. Contr., vol. AC-29, pp. 841–844, 1984.
35. W. M. Wonham, Linear Multivariable Control: A Geometric Approach. New York: Springer-Verlag, 2nd ed., 1979.