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Please use this identifier to cite or link to this item:
http://hdl.handle.net/2074/2291
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| Title: | On robustness of decentralized control for robot manipulators |
| Authors: | Swarup, A
Gopal, M |
| Keywords: | decentralized control
state-feedback
robot manipulators
robustness
error-pattern |
| Issue Date: | 1993 |
| Citation: | Robotics and Autonomous Systems, 11(2), 109-112p. |
| Abstract: | For the trajectory-tracking problem of robot manipulators various decentralized control schemes are investigated in this paper. These control schemes result in poor tracking performance in case of large payload variations. A compensation scheme using an error-data knowledge base is developed to improve the performance robustness. |
| URI: | http://eprint.iitd.ac.in/dspace/handle/2074/2291 |
| Appears in Collections: | Electrical Engineering
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| swaruprob93.pdf | | 112Kb | Adobe PDF | View/Open |
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