DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR

Gusev Sergei V

2013 , VOLUME 13, NUMBER 1 ( January-February )

ISSN 2226-1494 (print), ISSN 2500-0373 (online)

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Nikiforov
Vladimir O.
D.Sc., Prof.

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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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