{"title":"Robustness of NPD control (preliminary results)","authors":"B. Armstrong","doi":"10.1109/IROS.1997.649106","DOIUrl":null,"url":null,"abstract":"Robustness results are presented for nonlinear PD (NPD) control. Drawing on the experimental demonstration by Xu et al. (1995) of the performance benefits of NPD control and previous results establishing Lyapunov stability, the robustness of NPD control is examined and minimum bounds for robustness to parametric variation are established. As an example, robust control of the Sarcos dextrous manipulator is described.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"77 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1997.649106","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
Robustness results are presented for nonlinear PD (NPD) control. Drawing on the experimental demonstration by Xu et al. (1995) of the performance benefits of NPD control and previous results establishing Lyapunov stability, the robustness of NPD control is examined and minimum bounds for robustness to parametric variation are established. As an example, robust control of the Sarcos dextrous manipulator is described.
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