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Decentralized control for uncertain robots using only position feedback

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3 Author(s)
Zongying Shi ; Dept. of Autom., Tsinghua Univ., Beijing, China ; Wenli Xu ; Yisheng Zhong

A model following decentralized robust controller for uncertain robots is proposed. The robust controller is designed in two steps: firstly, an artificial nominal plant is introduced and based on a reference plant a nominal controller is designed, which enables the nominal closed-loop system to achieve desired tracking properties. Secondly, a robust compensator is added to restrain the influence of uncertainties and nonlinear couplings. By applying the controller with a sufficiently wide frequency bandwidth, local uniform ultimate boundedness is achieved. Only using local position feedbacks, the controller has the advantage of tuning on-line and easy realization. Analytical proofs and simulation results validate the effectiveness of the method.

Published in:

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on  (Volume:6 )

Date of Conference:

15-19 June 2004