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Robust nonlinear reduced-order dynamic controller design and its application to a single-link manipulator

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3 Author(s)
Zhou, J.Y. ; Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore ; Zhou, R.J. ; Wang, Y.Y.

We focus on the design of robust reduced-order dynamic feedback control for a class of nonlinear systems with uncertainties. A robust nonlinear reduced-order dynamic controller (RNRDC) is proposed. The resulting closed-loop system can be robustly stabilized for all admissible uncertainties via the proposed controller. The application of the proposed RNRDC to a permanent magnet brush DC motor driving a single-link manipulator is also considered. The parameters uncertainties can be up to ±80%. The load can vary ranging from 50% to +100% of the nominal value. Our simulation results show that for the example system the proposed RNRDC can achieve good performance.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:2 )

Date of Conference:

2001