CUED Publications database

ROBOT DYNAMIC CONTROL INSTABILITIES.

Williams, SJ and Glover, K (1985) ROBOT DYNAMIC CONTROL INSTABILITIES. Proceedings of the American Control Conference. pp. 390-392. ISSN 0743-1619

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Abstract

The authors demonstrate that a widely proposed method of robot dynamic control can be inherently unstable, due to an algebraic feedback loop condition causing an ill-posed feedback system. By focussing on the concept of ill-posedness a necessary and sufficient condition is derived for instability in robot manipulator systems which incorporate online acceleration cross-coupling control. Also demonstrated is a quasilinear multivariable control framework useful for assessing the robustness of this type of control when the instability condition is not obeyed.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron job
Date Deposited: 04 Feb 2015 22:53
Last Modified: 05 Feb 2015 08:19
DOI: