An Encompassing Formalization of Robust Computed Torque Schemes of Robot Systems
- Resource Type
- Conference
- Authors
- Elloumi, H.; Bordier, M.; Maizi, N.
- Source
- Proceedings of the 44th IEEE Conference on Decision and Control Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on. :5281-5286 2005
- Subject
- Robotics and Control Systems
Computing and Processing
Robustness
Robust control
Robot kinematics
Force control
Torque control
Error correction
Control system synthesis
Robot control
Kinetic energy
Nonlinear equations
- Language
- ISSN
- 0191-2216
This paper deals with the tracking control of robot systems in presence of perturbations such as modelling errors and disturbance forces. More specifically, this paper aims at reviewing the well-established robust computed torque controller. The first goal consists in establishing a global and encompassing formalization for a large class of robust computed torque schemes by using a Lyapunov approach. Then the second goal is to use this formalization to improve a particular scheme. It consists in deriving lower gain thresholds by exploiting the passivity property of robot systems.