Robustness of the minimal control synthesis algorithm to non-linear plant with regard to the position control of manipulators

This paper presents new, more rigorous, proofs of the stability and robustness of the adaptive minimal control synthesis (MCS) and decentralized MCS (DMCS) algorithms, applied to plant subject to internal state-dependent non-linear disturbances. The concept of arbitrary dissipativity, and the restri...

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Bibliographic Details
Published inInternational journal of control Vol. 72; no. 14; pp. 1288 - 1298
Main Authors Hodgson, S. P., Stoten, D. P.
Format Journal Article
LanguageEnglish
Published London Taylor & Francis Group 20.09.1999
Taylor & Francis
Subjects
Applied sciences
Computer science; control theory; systems
Control system analysis
Control system synthesis
Control theory. Systems
Exact sciences and technology
Stability
Decentralized control
Position control
Control system
System synthesis
Robustness
Non linear system
System analysis
Adaptive control
Manipulator
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ISSN0020-7179
1366-5820
DOI10.1080/002071799220263

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Summary:This paper presents new, more rigorous, proofs of the stability and robustness of the adaptive minimal control synthesis (MCS) and decentralized MCS (DMCS) algorithms, applied to plant subject to internal state-dependent non-linear disturbances. The concept of arbitrary dissipativity, and the restriction on the high frequency gain of the plant introduced by Hodgson and Stoten in 1996, is used as a basis for the analysis. We also extend the stability result to the position control of manipulators composed of prismatic and revolute joints, by making use of the passive structure of the manipulator dynamics.
ISSN:0020-7179
1366-5820
DOI:10.1080/002071799220263