DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR
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 trackin...
| Main Author: | |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University)
2013-01-01
|
| Series: | Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki |
| Subjects: | |
| Online Access: | http://openbooks.ifmo.ru/read_ntv/4048/4048.pdf |