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	Decentralized robust tracking control for rigid-link electrically driven robots
	Shi Zong-ying ; Zhong Yi-sheng ; Xu Wen-li
	2010-05-06 ; 2010-05-06
关键词	Practical Theoretical or Mathematical/ control system synthesis decentralised control path planning robots robust control/ rigid-link electrically driven robots decentralized robust tracking control nominal controller robust compensator/ C3390 Robotics C1310 Control system analysis and synthesis methods C1340B Multivariable control systems C1320 Stability in control theory
中文摘要	A new design method of decentralized robust tracking controller for rigid-link electrically driven robots with uncertainties is proposed which is divided into two steps: firstly, a nominal controller is designed which enables the nominal close-loop plant to achieve desired properties. Then a robust compensator is added to restrain the influence of nonlinear couplings, joint frictions, parameter uncertainties, external disturbances and so on. By applying the controller with a sufficiently wide frequency bandwidth, without the measurement of motor's armature currents, local uniform ultimate boundedness is achieved, which is verified in theoretical proof and simulation results. In addition, the controller has the characteristic of tuning on-line.
语种	中文 ; 中文
出版者	Chinese Soc. Electr. Eng ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/9105]
专题	清华大学
推荐引用方式 GB/T 7714	Shi Zong-ying,Zhong Yi-sheng,Xu Wen-li. Decentralized robust tracking control for rigid-link electrically driven robots[J],2010, 2010.
APA	Shi Zong-ying,Zhong Yi-sheng,&Xu Wen-li.(2010).Decentralized robust tracking control for rigid-link electrically driven robots..
MLA	Shi Zong-ying,et al."Decentralized robust tracking control for rigid-link electrically driven robots".(2010).

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