Strict Lyapunov functions for control of robot manipulators

DOI10.1016/S0005-1098(96)00194-XzbMath0960.93039OpenAlexW2001472720MaRDI QIDQ1361329

Rafael Kelly, Victor Santibáñez

Publication date: 10 May 2001

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(96)00194-x

zbMATH Keywords

regulationrobotic manipulatorsstrict Lyapunov functionsartificial potential energyenergy shaping techniquestracking controllers

Mathematics Subject Classification ID

Lyapunov and storage functions (93D30) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21)

Related Items (10)

Stable robot manipulator parameter identification: a closed-loop input error approach ⋮ A stable motion control system for manipulators via fuzzy self-tuning ⋮ Velocity control of robot manipulators: Analysis and experiments ⋮ Analysis and synthesis of global nonlinear \(\mathcal{H}_{\infty}\) controller for robot manipulators ⋮ Thrust vector control of constrained multibody systems ⋮ Trajectory-tracking in finite-time for robot manipulators with bounded torques via output-feedback ⋮ Strict Lyapunov function for sliding mode control of manipulator using quasi-velocities ⋮ Triangular form for Euler-Lagrange systems with application to the global output tracking control ⋮ Control of a quadrotor and a ground vehicle manipulating an object ⋮ Strict Lyapunov functions for finite-time control of robot manipulators

Cites Work

• A unified perspective on robot control: The energy lyapunov function approach
• Globally asymptotically stable ‘PD+’ controller for robot manipulators
• A New Feedback Method for Dynamic Control of Manipulators
• Lyapunov function-based control laws for revolute robot arms: tracking control, robustness, and adaptive control
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