Robust stability analysis of robot control systems

Jaworska, I; Tzafestas, S

dc.contributor.author	Jaworska, I	en
dc.contributor.author	Tzafestas, S	en
dc.date.accessioned	2014-03-01T01:08:32Z
dc.date.available	2014-03-01T01:08:32Z
dc.date.issued	1991	en
dc.identifier.issn	09218890	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/10550
dc.subject	Modelling uncertainty	en
dc.subject	Parametric sensitivity	en
dc.subject	Robot control system	en
dc.subject	Robust stability measures	en
dc.subject	Robustness analyis	en
dc.subject	System tolerance	en
dc.subject	Tracking performance	en
dc.subject.other	Computer Programming--Algorithms	en
dc.subject.other	Control Systems, Three Term	en
dc.subject.other	Mathematical Techniques--Sensitivity Analysis	en
dc.subject.other	Robots	en
dc.subject.other	State Space Models	en
dc.subject.other	Control Systems	en
dc.title	Robust stability analysis of robot control systems	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/0921-8890(91)90059-T	en
heal.identifier.secondary	http://dx.doi.org/10.1016/0921-8890(91)90059-T	en
heal.publicationDate	1991	en
heal.abstract	Some robust stability measures for state-space models are discussed. These measures are used for assessing the robustness of a robotic system controlled by a form of the PID control algorithm. The highly nonlinear and strongly coupled robot model is replaced by a nominal linear model involving modelling uncertainty. The amount of uncertainty under which the robotic system can maintain its stability and tracking performance is determined using the above measures. The parametric sensitivity of the robotic system is also briefly considered. © 1991.	en
heal.journalName	Robotics and Autonomous Systems	en
dc.identifier.doi	10.1016/0921-8890(91)90059-T	en
dc.identifier.volume	7	en
dc.identifier.issue	4	en
dc.identifier.spage	285	en
dc.identifier.epage	290	en