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Robust stability analysis of robot control systems
This item is provided by the institution :
National Technical University of Athens
Repository :
Digital Library of National Technical University of Athens | Dspace@NTUA
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ΕΚΤ item type
Journal part
(EN)
Scientific article
(EN)
EKT year
1991
(EN)
EKT historical period
Title
Robust stability analysis of robot control systems (EN)
Creator
Tzafestas, S (EN)
Jaworska, I (EN)
Description
Some robust stability measures for state-space models are discussed. These measures are used for assessing the robustness of a robotic system controlled by a form of the PID control algorithm. The highly nonlinear and strongly coupled robot model is replaced by a nominal linear model involving modelling uncertainty. The amount of uncertainty under which the robotic system can maintain its stability and tracking performance is determined using the above measures. The parametric sensitivity of the robotic system is also briefly considered. © 1991. (EN)
Type
journalArticle (EN)
Subject
Computer Programming--Algorithms (EN)
Control Systems (EN)
Robot control system (EN)
Parametric sensitivity (EN)
System tolerance (EN)
Tracking performance (EN)
State Space Models (EN)
Mathematical Techniques--Sensitivity Analysis (EN)
Control Systems, Three Term (EN)
Modelling uncertainty (EN)
Robots (EN)
Robust stability measures (EN)
Robustness analyis (EN)
Provider
National Technical University of Athens
Repository / collection
Digital Library of National Technical University of Athens | Dspace@NTUA
Subcollections
Κεντρική Βιβλιοθήκη Ε.Μ.Π.
Ιδρυματικό Αποθετήριο
Δημοσιεύσεις μελών Δ.Ε.Π. σε περιοδικά
Journal
Robotics and Autonomous Systems (EN)
Issued
1991 (EN)
Identifier
http://hdl.handle.net/123456789/10550
10.1016/0921-8890(91)90059-T (EN)
4 (EN)
09218890 (EN)
7 (EN)
290 (EN)
285 (EN)
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