IEEE Control Systems · 1991 · 390 citations · 55 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot DynamicsRoboticsAdaptive ControlControl TheoryController DesignMotion ControlRigid Body DynamicsRobust ControlAdaptive Robust ControlPassivityPassivity ControlPassivity TheoryPassivity-based Robust ControlRobust Multivariable ControlRobust StabilizationSaturation
Current approaches to the robust control of the motion of rigid robots are surveyed, and the available literature is summarized. The five major design approaches discussed are the linear-multivariable approach, the passivity approach, the variable-structure approach, the saturation approach, and the robust-adaptive approach. Some guidelines for choosing a method are offered.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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The internal model principle of control theory
Bruce A. Francis, W.M. Wonham · Automatica · 1976 · 2.8K citations
Adaptive control stability, convergence, and robustness
Bo Egardt · Automatica · 1993 · 2.7K citations