ISSN:
1573-2878
Keywords:
Uncertain dynamical systems
;
robotic tracking
;
stability
;
deterministic feedback control
Source:
Springer Online Journal Archives 1860-2000
Topics:
Mathematics
Notes:
Abstract The tracking problem for a robotic manipulator withn controlled degrees of freedom and uncertain dynamics is considered. Based on the deterministic theory of Refs. 1–15 and requiring only knowledge of bounds on the system uncertainty, a classC of continuous feedback controls (adapted from Ref. 11) is proposed with respect to which the uncertain tracking system is practically stabilizable in the sense that, given a feasible path to be tracked and an arbitrarily small neighborhood σ of the origin in the appropriate error space, there exists a control inC such that the tracking error for the feedback controlled uncertain system is ultimately bounded with respect to σ. The theory is illustrated in a numerical example of a robot with two degrees of freedom.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF00940771
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