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An encompassing formalization of robust computed torque schemes of robot systems

Abstract : 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.
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Conference papers
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Contributor : Magalie Prudon <>
Submitted on : Thursday, July 22, 2010 - 3:11:30 PM
Last modification on : Thursday, September 24, 2020 - 5:22:33 PM

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  • HAL Id : hal-00505084, version 1

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Hatem Elloumi, Marc Bordier, Nadia Maïzi. An encompassing formalization of robust computed torque schemes of robot systems. 44th IEEE Conference on Decision Control/European Control Conference (CCD-ECC'05), Dec 2005, Seville, Spain. pp.5281-5286 - ISBN 0-7803-9567-0. ⟨hal-00505084⟩

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