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Robust control of nonlinear mechanical systems — Case Studies —

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Robust Control

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 183))

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Abstract

In this paper, we showed some case studies of robust control of mechanical systems. In this paper, dividing the uncertainties in the dynamical model of robot systems into two cases, that is (i) Structured Uncertainty and (ii) Unstructured Uncertainty, and then we showed control strategy which suited for each case through some experiments.

We can say that the next step in the field of robot motion control is to consider both uncertainties at once.

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References

  1. J.J. Uicker: Dynamic Force Analysis of Spatial Linkages, ASME J. of Applied Mechanics 34, 418/424 (1967).

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  2. K. Osuka: Adaptive Control of Nonlinear Mechanical Systems, Trans. of SICE, 22-2, 126/133 (1986) (in Japanese).

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  3. K. Osuka, T. Sugie and T. Ono: PD-Type Two-Stage Robust Tracking Control for Robot Manipulators, Proc. U.S.A.-Japan Symposium on Flexible Automation, 153/160 (1988).

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Osaka Prefecture, 591, Sakai, Osaka, Japan

    Koichi Osuka

Authors
  1. Koichi Osuka
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Editor information

L. D. Davisson A. G. J. MacFarlane H. Kwakernaak J. L. Massey Ya Z. Tsypkin A. J. Viterbi Shigeyuki Hosoe

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© 1992 Springer-Verlag

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Osuka, K. (1992). Robust control of nonlinear mechanical systems — Case Studies —. In: Davisson, L.D., et al. Robust Control. Lecture Notes in Control and Information Sciences, vol 183. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0114658

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  • DOI: https://doi.org/10.1007/BFb0114658

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-55961-0

  • Online ISBN: 978-3-540-47320-6

  • eBook Packages: Springer Book Archive

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