Robust stability analysis of robot control systems

 
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1991 (EN)
Robust stability analysis of robot control systems (EN)

Tzafestas, S (EN)
Jaworska, I (EN)

N/A (EN)

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)

journalArticle

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)

Εθνικό Μετσόβιο Πολυτεχνείο (EL)
National Technical University of Athens (EN)

Robotics and Autonomous Systems (EN)

1991


N/A (EN)



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