Practical evaluation of robust control for a class of nonlinear mechanical dynamic systems

• A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers.

[1]  K. Glover,et al.  State-space formulae for all stabilizing controllers that satisfy and H ∞ norm bound and relations to risk sensitivity , 1988 .

[2]  Andrew A. Goldenberg,et al.  A new robust robot controller , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[3]  C. Abdallah,et al.  Survey of the Robust Control of Robots , 1990, 1990 American Control Conference.

[4]  M. Safonov,et al.  Simplifying the H∞ theory via loop-shifting, matrix-pencil and descriptor concepts , 1989 .

[5]  Manfred Morari,et al.  A Conic Sector-Based Methodology for Nonlinear Control Design , 1990, 1990 American Control Conference.

[6]  Harry Berghuis,et al.  Observer design in the tracking control problem of robots , 1991 .

[7]  A. Krener Approximate linearization by state feedback and coordinate change , 1984 .

[8]  Liang-Wey Chang,et al.  A MIMO sliding control with a first-order plus integral sliding condition , 1991, Autom..

[9]  van Ljw Gerwen An adaptive robot controller:design, simulation and implementation , 1990 .

[10]  Rafael Kelly Adaptive computed torque plus compensation control for robot manipulators , 1990 .

[11]  John C. Doyle Analysis of Feedback Systems with Structured Uncertainty , 1982 .

[12]  Jean-Jacques E. Slotine,et al.  Adaptive Manipulator Control: Parameter Convergence and Task-Space Strategies , 1987, 1987 American Control Conference.

[13]  Paul M. Frank,et al.  ON ROBOT MOTION CONTROL WITH ACCELERATION FEEDBACK , 1988 .

[14]  David J. Hill A generalization of the small-gain theorem for nonlinear feedback systems , 1991, Autom..

[15]  R. Murray,et al.  Nonlinear controllers for non-integrable systems: the Acrobot example , 1990, 1990 American Control Conference.

[16]  A. Schaft L/sub 2/-gain analysis of nonlinear systems and nonlinear state-feedback H/sub infinity / control , 1992 .

[17]  Jean-Jacques E. Slotine,et al.  The Robust Control of Robot Manipulators , 1985 .

[18]  Ioan Doré Landau Future trends in adaptive control of robot manipulators , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[19]  T.A. Lasky,et al.  Robust independent robot joint control: design and experimentation , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[20]  R. M. Dolphus,et al.  Robot trajectory control: Robust outer loop design using a linear controller , 1991 .

[21]  Carlos Canudas de Wit,et al.  Computed Torque Control via a Nonlinear Observer , 1990 .

[22]  Giorgio Bartolini,et al.  Output regulation for nonlinear uncertain systems , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[23]  P. Ronge Locally optimal feedback strategy for non-linear systems with uncertain parameters , 1988 .

[24]  A survey of recent developments in nonlinear control theory , 1985 .

[25]  J. Hauser Nonlinear control via uniform system approximation , 1991 .

[26]  J. A. Tenreiro Machado,et al.  A smooth variable structure control algorithm for robot manipulators , 1988 .

[27]  Fathi H. Ghorbel,et al.  Adaptive control of flexible-joint manipulators , 1989, IEEE Control Systems Magazine.

[28]  W. T. Qian,et al.  A new controller design for a flexible one-link manipulator , 1992 .

[29]  G. Leitmann,et al.  Robustness of uncertain systems in the absence of matching assumptions , 1987 .

[30]  Paul M. Frank,et al.  Robust stability design framework for robot manipulator control , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[31]  D. Dawson,et al.  Robust control of robots by the computed torque law , 1991 .

[32]  Christopher I. Byrnes,et al.  Stabilization and output regulation of nonlinear systems in the large , 1990, 29th IEEE Conference on Decision and Control.

[33]  M. Sznaier,et al.  Suboptimal norm based robust control of constrained systems with an H/sub infinity / cost , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[34]  Carlos Canudas de Wit,et al.  Sliding observers for robot manipulators , 1991, Autom..

[35]  V. Utkin Variable structure systems with sliding modes , 1977 .

[36]  Stephen Yurkovich,et al.  Acceleration feedback for control of a flexible manipulator arm , 1988, J. Field Robotics.

[37]  Shay-Ping T. Wang,et al.  Nonlinear Robust Robot Control in Cartesian Coordinate , 1988, 1988 American Control Conference.

[38]  M. M. Bayoumi,et al.  Hybrid adaptive control for robot manipulators , 1990, 29th IEEE Conference on Decision and Control.

[39]  W. Bennett,et al.  Robust Nonlinear Control of Flexible Space Structures , 1990, 1990 American Control Conference.

[40]  Stephen P. Boyd,et al.  Subharmonic functions and performance bounds on linear time-invariant feedback systems , 1984, IEEE Conference on Decision and Control.

[41]  J. Karl Hedrick,et al.  Servo Design for Nonlinear Systems with Output Feedback , 1990, 1990 American Control Conference.

[42]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[43]  B. de Jager,et al.  Robust control of mechanical systems: a computational design study , 1991 .

[44]  C. Samson Robust control of a class of non-linear systems and applications to robotics , 1987 .

[45]  Antal K. Bejczy,et al.  Nonlinear Control Algorithms in Robotic Systems , 1991 .

[46]  C. Reboulet,et al.  A new method for linearizing non-linear systems : the pseudolinearization† , 1984 .

[47]  Jean-Jacques E. Slotine,et al.  Robot analysis and control , 1988, Autom..

[48]  Guanrong Chen,et al.  On robust stabilization on nonlinear control systems , 1989 .

[49]  Jean-Jacques E. Slotine,et al.  Adaptive Cartesian Control of Redundant Manipulators , 1990, 1990 American Control Conference.

[50]  A. Yamakami,et al.  On the robustness of nonlinear regulators and its application to nonlinear systems stabilization , 1985 .

[51]  M. Shelley Frankenstein, Or The Modern Prometheus , 2018, Primary Sources on Monsters.

[52]  M. A. Henson,et al.  Critique of exact linearization strategies for process control , 1991 .

[53]  Robustness of Large-Gain Linearizing Feedback in the Presence of Fast Dynamics , 1990, 1990 American Control Conference.

[54]  Brian Armstrong,et al.  Friction: experimental determination, modeling and compensation , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[55]  Carlos Canudas de Wit,et al.  Adaptive Friction Compensation in Robot Manipulators: Low Velocities , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[56]  Mwwj Marcel Tijdink A research into the robustness of some robust controllers , 1990 .

[57]  K. Kreutz On manipulator control by exact linearization , 1989 .

[58]  Antti J. Koivo,et al.  Force-position-velocity control with self-tuning for robotic manipulators , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[59]  K. Srinivasan,et al.  Bandwidth enhancement of position measurements using measured acceleration , 1990 .

[60]  Henk Nijmeijer,et al.  Observer Design in the Tracking Control Problem of Robots , 1992 .

[61]  N. Becker,et al.  Entwurf robuster Regelungen für Roboter , 1988 .

[62]  S. Bhattacharyya,et al.  Robust control , 1987, IEEE Control Systems Magazine.

[63]  George N. Saridis,et al.  L-Q design of PID controllers for robot arms , 1985, IEEE J. Robotics Autom..

[64]  I. Kanellakopoulos,et al.  Systematic Design of Adaptive Controllers for Feedback Linearizable Systems , 1991, 1991 American Control Conference.

[65]  Glenn R. Widmann,et al.  Robust Controller Application to Flexible Manipulators , 1990, 1990 American Control Conference.

[66]  R. W. Visser The improvement of controller-robustness using acceleration feedback , 1992 .

[67]  Mathukumalli Vidyasagar,et al.  Robust controllers for uncertain linear multivariable systems , 1984, Autom..

[68]  P. Sogaard-Andersen,et al.  Robust stability assessment of a 2-DOF manipulator based on mu -analysis , 1988 .

[69]  B. Anderson,et al.  Nonlinear regulator theory and an inverse optimal control problem , 1973 .

[70]  J. Tsitsiklis,et al.  Guaranteed robustness properties of multivariable, nonlinear, stochastic optimal regulators , 1983, The 22nd IEEE Conference on Decision and Control.

[71]  P. Kokotovic,et al.  Nonlinear control via approximate input-output linearization: the ball and beam example , 1992 .

[72]  P. Khargonekar,et al.  State-space solutions to standard H2 and H∞ control problems , 1988, 1988 American Control Conference.

[73]  Madan Gopal,et al.  Robust trajectory control of a robot manipulator , 1991 .

[74]  Kuldip S. Rattan,et al.  Adaptive control of a single-link flexible manipulator , 1990 .

[75]  F. L. Lewis,et al.  On Robustness Analysis in the Control of Nonlinear Systems , 1988, 1988 American Control Conference.

[76]  D. Grant Fisher,et al.  Continuous sliding mode control , 1992 .

[77]  Shay-Ping Thomas Wang Nonlinear robust industrial robot control , 1987 .

[78]  Carlos Canudas de Wit Experimental Results on Adaptive Friction Compensation in Robot Manipulation: Low Velocities , 1989, ISER.

[79]  Mathukumalli Vidyasagar,et al.  Control of a Class of Manipulators With a Single Flexible Link: Part II—Observer-Controller Stabilization , 1991 .

[80]  M. Corless,et al.  Robustness of a Class of Feedback-Controlled Uncertain Nonlinear Systems in the Presence of Singular Perturbations , 1987, 1987 American Control Conference.

[81]  Malcolm Good,et al.  Dynamic Models for Control System Design of Integrated Robot and Drive Systems , 1985 .

[82]  Christopher G. Atkeson,et al.  Estimation of Inertial Parameters of Manipulator Loads and Links , 1986 .

[83]  J. Da Cruz,et al.  On the robustness of optimal regulators for nonlinear discrete-time systems , 1986, 1986 25th IEEE Conference on Decision and Control.

[84]  Francisco López,et al.  Dissolved oxygen control through an adaptive non-linear model approach: a simulation study , 1991 .

[85]  Mark W. Spong,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[86]  Martin Corless,et al.  Tracking Controllers for Uncertain Systems: Application to a Manutec R3 Robot , 1989 .

[87]  Andrew A. Goldenberg,et al.  Robust Control of Robotic Manipulators in the Presence of Dynamic Parameter Uncertainty , 1989 .

[88]  S. Torkel Glad Robustness of nonlinear state feedback - A survey , 1987, Autom..

[89]  Weiping Li,et al.  Adaptive manipulator control a case study , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[90]  Brad Paden,et al.  Globally asymptotically stable ‘PD+’ controller for robot manipulators , 1988 .

[91]  Y.H. Chen Reducing the Measure of Mismatch for Uncertain Dynamical Systems , 1986, 1986 American Control Conference.

[92]  Kamal Youcef-Toumi,et al.  Controller Design for Systems with Unknown Nonlinear Dynamics , 1987, 1987 American Control Conference.

[93]  G. Stein,et al.  Multivariable feedback design: Concepts for a classical/modern synthesis , 1981 .

[94]  A. Isidori,et al.  Asymptotic stabilization of minimum phase nonlinear systems , 1991 .

[95]  P. Dorato,et al.  Survey of robust control for rigid robots , 1991, IEEE Control Systems.

[96]  Paul M. Frank,et al.  ROBUST CONTROL OF ROBOTS WITH JOINT ELASTICITIES , 1989 .

[97]  A. Isidori,et al.  Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems , 1991 .

[98]  H. Hermes,et al.  Foundations of optimal control theory , 1968 .

[99]  P. Antsaklis Intelligent control , 1986, IEEE Control Systems Magazine.

[100]  Some remarks on the convergence analysis of adaptive controllers for robot manipulators , 1990 .

[101]  Bernard Friedland,et al.  On the Modeling and Simulation of Friction , 1990, 1990 American Control Conference.

[102]  A. Eras,et al.  On the Robust Control of Uncertain Nonlinear Systems , 1990, 1990 American Control Conference.

[103]  de Ag Bram Jager,et al.  Comparison of two methods for the design of active suspension systems , 1991 .

[104]  K. Y. Lee,et al.  Nonlinear Robotic Control Including Drive Motor Interactions , 1988, 1988 American Control Conference.

[106]  J. J. Slotine,et al.  Tracking control of non-linear systems using sliding surfaces with application to robot manipulators , 1983, 1983 American Control Conference.

[107]  B. de Jager Improving the Tracking Performance of Mechanical Systems by Adaptive Extended Friction Compensation , 1993 .

[108]  Bor-Sen Chen,et al.  Adaptive control systems with robustness optimization to non-linear time-varying unmodelled dynamics , 1987 .

[109]  Stanislaw H. Zak,et al.  Combined observer-controller synthesis for uncertain dynamical systems with applications , 1988, IEEE Trans. Syst. Man Cybern..

[110]  G. Stein,et al.  Beyond singular values and loop shapes , 1991 .

[111]  W. Baumann,et al.  Feedback control of nonlinear systems by extended linearization , 1986 .

[112]  W. Rugh,et al.  On the pseudo-linearization problem for nonlinear systems , 1989 .

[113]  Kazuhiko Nakamoto,et al.  Multivariable control experiments of non-linear chemical processes using non-linear feedback transformation , 1991 .