Nonlinear feedback control synthesis for robotic manipulator

摘要

This dissertation is aimed at exploring the new directions of robotic control synthesis. The breakthrough is made possible by taking advantage of state-of-the-art research as well as the innovative concepts introduced in the text. The exemplary theoretical framework is demonstrated by the integration of a family of nonlinear feedback control law extensively investigated in this dissertation, for its origination, interpretation, variation, application, implementation, and other related aspects. Topics including time-optimal control theory, robust control theory, discontinuous control theory, torque and acceleration constraint, inverse method, resolved control theory, force control theory, dynamics derivation and identification problems, and nonlinear feedback control law are systematically covered and organized, to show more general, broad, and flexible methodologies in synthesizing effective controllers for robotic and other mechanical systems.