宋永端, 高为炳, 程勉. 受扰不确定机器人手臂的终结有界稳定控制[J]. 机器人, 1988, 10(6): 10-17..
SONG Yongduan. A STRATEGY FOR ULTIMATE BOUNDED CONTROL OF ROBOT ARMS WITH DISTURBANCES AND UNCERTAINTIES. ROBOT, 1988, 10(6): 10-17..
Abstract：This paper studies the stabilization problem on RA,i.e.robot arm,in the face of disturbance and uncertainty.A new control strategy consisting of a torque generatorand a linear continuous stabilizer is developed.It is shown the exact RA model is notrequired and ultimate boundedness stability of RA is guaranteed in the strategy presented.Moreover,this strategy is tolerable to a certain degree of computation error.
[1] Freund E, Fast nonlinear control with arbitrary pole-placement for industrial robots and manipulators, Int J Pobotics Research; 1982; 1(1):85-78
[2] Tarn T J et al. Nonlinear feedback is robot arm control, Ia Proc IEEE 23rd Conf Decision and Control, Las Yegas, NV 1984: 12-14
[3] Bejzy A K, Robot arm dynamics and control,JPL Technical Memo Is74
[4] Luh J Y Set ab. Resolved acceleration control of mechanical manipulators, IEEE Trans Auto Control, 1980;AC25(3):468-474
[5] Whitney D E, Resolved motion rate control of manipulators and human prostheses, IEEE Trans Man-Machine Systems, 1969,47-53
[6] Saridis G N, Aa approximation theory of optimal control for trainable manipulators, IEEE Traas, SMC, 1979
[7] Shiller Z, Duowsky S, On the optimal control of robot manipulators with actuator and end-effector constraints, In:IEEE Pro Conf St Louis, 1985
[8] Slotine J J E,The robust control of manipulators,Int J Robotics Research, 1985, 4(2);89-74
[9] Spong M W, The control of robot manipulators with bounded input, Part II robustness and distarbance rejection, In; IEEE Proc Conf Decision and Control, Las Vegas, 1984, 1047-1058
[10] Singh S N, Ultimated boundedaess control of uncertain robotic systems, Iat J Systems Sci, 1986;17(6).859-863
[11] Schmitendorf W E,Design methodology for robust stabilizing controllers, J Guidance, 1987; 10(3): 250-254
[12] Chea Y H, On the control of an uncertain water quality system, Optimal Control Applications and Methods, 1987;8:279-298
[13] Leitmaan J G, Guaranteed ultimate boundedness for a class of uncertain linear dynamical systems,IEEE Trans Auto Control, 1978; 23(6)
[14] Barmish B R et al, A new class of stabilizing controllers for uncertain dynamic; systems, SIAM Control and Optimization, 1983; 21(2)
[15] Walcott et al. state observation of nonlinear oncertain dynamical systems, IEEE Trans Auto Coatrol, 1987; 32(2)
[16] Seraji. H, Linear multivariable control of two-link robots, J Robotic Systems, 1986; 3(4):348-365
[17] Harris G J, Stability of linear systems, Acadeinis;Press, London,1980
