Robust tracking control of robot manipulators. (English) Zbl 0918.93030
Piscataway, NJ: IEEE. xviii, 233 p. (1996).
Publisher’s description: This original monograph approaches robust control, design, and performance using unified theory and analysis. Key features include a unique focus on robustness flexibility, uncertainties, unmodeled dynamics, sampling, measures against saturation in controllers and actuators, and geometrical interpretations and simulations.
Contents include Introduction; Robot Dynamics; Mathematical Preliminaries; Common Control Strategies; Nonlinear Control Strategies; Robust State-Feedback Control; Robust Input-Output Control; Transient Performance Analysis; Discrete Implementation of Continuous Control.
Contents include Introduction; Robot Dynamics; Mathematical Preliminaries; Common Control Strategies; Nonlinear Control Strategies; Robust State-Feedback Control; Robust Input-Output Control; Transient Performance Analysis; Discrete Implementation of Continuous Control.
MSC:
93C85 | Automated systems (robots, etc.) in control theory |
93-02 | Research exposition (monographs, survey articles) pertaining to systems and control theory |