Robust nonlinear feedback control for robotic manipulators

V. D. Tourassis, C. P. Neuman

Research output: Contribution to journalArticle

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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