Robust Control of Robot Manipulator by Model-Based Disturbance Attenuation

IEEE/ASME Transactions on Mechatronics

Volumn 8, Issue 4, 2003, Pages 511-513

  Choi, Chong Ho ^a   Kwak, Nojun ^a  

^a Seoul National University   (South Korea)

Author keywords

Liapunov function; Model based disturbance attenuator (MBDA); Position control; Robot manipulators; Stability

Indexed keywords

ASYMPTOTIC STABILITY; COMPUTER SIMULATION; EIGENVALUES AND EIGENFUNCTIONS; EQUATIONS OF MOTION; ERROR ANALYSIS; FRICTION; GRAVITATION; MATRIX ALGEBRA; POSITION CONTROL; ROBOTS; ROBUSTNESS (CONTROL SYSTEMS); TORQUE; VECTORS;

LIAPUNOV FUNCTION; MODEL-BASED DISTURBANCE ATTENUATORS (MBDA); ROBOT MANIPULATORS;

MANIPULATORS;

EID: 0345869854     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2003.820023     Document Type: Article

References (4)

1. B.-K. Choi, C.-H. Choi, and H. Lim, "Model-based disturbance attenuation for CNC machining centers," IEEE/ASME Trans. Mechatron., vol. 4, pp. 157-168, June 1999.
2. C.-H. Choi and N. Kwak. "Disturbance attenuation in robot control," in Proc. Int. Conf. Robotics and Automation, Seoul, Korea, May 2001, pp. 2560-2565.
3. F. L. Lewis, C. T. Abdallah, and D. M. Dawson, Control of Robot Manipulators. New York: Macmillan, 1993.
4. J. La Salle and S. Lefschetz, Stability by Liapunov's Direct Method With Applications. New York: Academic, 1961.