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An Optimal Control Approach to Robust Control of Robot Manipulators  

김미경 (울산대학교 전기전자정보시스템공학부)
강희준 (울산대학교 전기전자정보시스템공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.12, 2003 , pp. 176-182 More about this Journal
Abstract
An optimal control approach to robust control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method to find the matrix is shown. Simulations are made for a weight-lifting operation of a two-link manipulator and the robust control performance of robotic systems by the proposed algorithm is remarkable.
Keywords
uncertainties; robust control; optimal control; weighting matrix; iterative method;
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  • Reference
1 An Optimal Control Approach to Robust Control of Robot Manipulators /
[ Lin,Feng;Robert D.Brandt ] / IEEE Trans. On Robotics and Automation
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