A generalized trajectory tracking controller for robot manipulators with bounded inputs

DOI10.1631/JZUS.A0820725zbMath1178.70077OpenAlexW1973800763MaRDI QIDQ1049848

Hua-Shan Liu, Shi-Qiang Zhu

Publication date: 13 January 2010

Published in: Journal of Zhejiang University. Science A (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1631/jzus.a0820725

zbMATH Keywords

singular perturbationtracking controlrobotbounded input

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Cites Work

• Bounded output feedback tracking control of fully actuated Euler-Lagrange systems
• Globally asymptotically stable ‘PD+’ controller for robot manipulators
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