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Survey of robust control for rigid robots

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4 Author(s)
Abdallah, C. ; CAD Lab. for Syst. & Robotics, New Mexico Univ., Albuquerque, NM, USA ; Dawson, D. ; Dorato, P. ; Jamshidi, M.

Current approaches to the robust control of the motion of rigid robots are surveyed, and the available literature is summarized. The five major design approaches discussed are the linear-multivariable approach, the passivity approach, the variable-structure approach, the saturation approach, and the robust-adaptive approach. Some guidelines for choosing a method are offered.<>

Published in:

Control Systems, IEEE  (Volume:11 ,  Issue: 2 )