DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR

S. V. Gusev


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Abstract

The problem of robot-manipulator control is considered under uncertainty in robot dynamic parameters and input noise. The linear discrete-time regulator is proposed for desired motion stabilization of robot-manipulator. It is shown that decreasing the sampling time it is possible to make the tracking error as small as necessary.


Keywords: robot-manipulator, robust control, linear regulator, discrete time
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