Perfect position/force tracking of robots with dynamical terminal sliding mode control
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Publication:2764536
DOI10.1002/ROB.1041zbMath1011.70007OpenAlexW2118675050MaRDI QIDQ2764536
G. Hirzinger, A. Rodríguez-Angeles, Vicente Parra-Vega
Publication date: 20 May 2002
Published in: Journal of Robotic Systems (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1002/rob.1041
Lyapunov functionasymptotic stabilityperfect trackingdynamical terminal sliding mode controllerfinite time trackingzero tracking error
Related Items (7)
Robust trajectory‐tracking in finite‐time for robot manipulators using nonlinear proportional‐derivative control plus feed‐forward compensation ⋮ Global continuous finite-time tracking of robot manipulators ⋮ Output feedback finite-time stabilization of systems subject to hölder disturbances via continuous fractional sliding modes ⋮ Adaptive position/force control for robot manipulators in contact with a rigid surface with uncertain parameters ⋮ Continuous finite-time regulation of Euler-Lagrange systems via energy shaping ⋮ Strict Lyapunov functions for finite-time control of robot manipulators ⋮ Finite-time control of robotic manipulators
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