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Editor-in-Chief
Nikiforov
Vladimir O.
D.Sc., Prof.
Partners
DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR
Read the full article ';
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