Robust Control for Robots Based on Linear State Equation

摘要：

By transforming the dynamics model of n-joint robots based on Lagrange equation into linear state equation, three kinds of robust control approaches for robots are presented, which are respectively the linear matrix inequality (LMI) approach, the variable structure control approach and the linear quadratic regular (LQR) approach. Examples and simulations show that these approaches are effective.

作者: Jinglei Zhou Weihai Zhang

作者单位: College of Information and Electrical Engineering Shandong University of Science and Technology Shan-dong Qing-dao 266510

会议类型: 国际会议

会议名称: 第三届国际脉冲动力系统及应用学术会议

会议地点: 青岛

会议语种:英文

在线出版日期: 2006-07-21（万方平台首次上网日期，不代表论文的发表时间）