A Lyapunov Approach for Robust State Feedback Synthesis and Its Application to Robot Control

ロバスト状態フィードバック制御則を構成するためのリアプノフの方法とそのロボット制御への応用

Wu Hansheng

Mizukami Koichi

広島大学総合科学部紀要. IV, 理系編

Memoirs of the Faculty of Integrated Arts and Sciences, Hiroshima University. IV, Science reports

Robust stabilization for a class of nonlinear dynamical systems with uncertainties is investigated. Based on the stabilizability of a nominal system (i. e. the system in the absence of uncertainty), a class of continuous state feedback controllers for uncertain dynamical systems are presented. Compared with those reported in the control literature, such a class of stae feedback controllers are non-saturation type, have a rather simple form, and can guarantee practical stability and asymptotic stability of uncertain dynamical systems in terms of the choice of gain control function. Particularly, no chattering will appear in implementation for the control. A numerical example on the robust stabilization of a simple pendulum is given to demonstrate the utilization of the results. As an application of the results presented in this paper, the robust control problem of robot manipulators is also discussed, and a simpler robust control law for n-link robot manipulators is derived.

Uncertain dynamical systems

state feedback synthesis

Lyapunov functions

practical stability

asymptotic stability

robot manipulators

英語

広島大学総合科学部

[作成日] 2006-03-21

[ISSN] 1340-8364

[NCID] AN10435936