Robust nonlinear feedback control for robotic manipulators

V. D. Tourassis, C. P. Neuman

Research output: Contribution to journalArticlepeer-review

33 Citations (Scopus)

Abstract

Nonlinear feedback control algorithms for manipulators utilise the complete (coupled and nonlinear) dynamic model to decouple the robot joints. In this framework, we present a comparative evaluation of the computed-torque and direct-design control algorithms, and outline the practical problems introduced by modelling inaccuracies, unmodelled dynamics and parameter errors. We then formulate the α-computed-torque nonlinear feedback control algorithm which is robust in the presence of the aforementioned error sources. Numerical experiments with cylindrical robots confirm the robustness and applicability of our α-computed-torque algorithm.

Original languageEnglish
Pages (from-to)134-143
Number of pages10
JournalIEE Proceedings D: Control Theory and Applications
Volume132
Issue number4
DOIs
Publication statusPublished - Jan 1 1985

ASJC Scopus subject areas

  • Engineering(all)

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