On L/sub 2/- and L/sub infinity /-stability approaches for the robust control of robot manipulators

On L/sub 2/- and L/sub infinity /-stability approaches for the robust control of robot manipulators

Robustness results were recently obtained for the linear and nonlinear control of robot manipulators using the L/sub 2/- and L/sub infinity /-stability approaches, respectively. Critical remarks on these approaches and further investigations are presented. In order to investigate L/sub 2/-stability,...

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Veröffentlicht in:IEEE transactions on automatic control 1988-01, Vol.33 (1), p.118-122
Hauptverfasser: Becker, N., Grimm, W.M.
Format: Artikel
Sprache:eng
Schlagworte:
Adaptive control
H infinity control
Kernel
Manipulators
Programmable control
Robotics and automation
Robots
Robust control
Robust stability
Robustness
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Zusammenfassung:Robustness results were recently obtained for the linear and nonlinear control of robot manipulators using the L/sub 2/- and L/sub infinity /-stability approaches, respectively. Critical remarks on these approaches and further investigations are presented. In order to investigate L/sub 2/-stability, it is shown that additional assumptions have to be made and a reformulation of the control problem has to be carried out.< >
ISSN:0018-9286
1558-2523
DOI:10.1109/9.375