Energy-based approach to sliding composite adaptive control for rigid robots with finite error convergence time

DOI10.1080/00207170110112241zbMath1034.93042OpenAlexW2095459818MaRDI QIDQ3151635

Oscar Barambones, Victor Etxebarria

Publication date: 16 October 2002

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207170110112241

zbMATH Keywords

stabilitytrackingadaptive controlsliding controlrobotic manipulatorsenergy-based approachrigid robots

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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