Robust trajectory following of robots using computed torque structure with VSS

DOI10.1080/00207179008953575zbMath0706.70033OpenAlexW2075217678MaRDI QIDQ3486920

Rowland Jun. Richards, S. W. Wijesoma

Publication date: 1990

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

Full work available at URL: https://doi.org/10.1080/00207179008953575

zbMATH Keywords

control lawcomputed torque techniquecontrol approachrobust accurate trajectory trackingvariable-structure systems (VSS) theory

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (6)

A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach ⋮ Adaptive second order terminal sliding mode controller for robotic manipulators ⋮ Design of robust PD‐type control laws for robotic manipulators with parametric uncertainties ⋮ Robot robust path tracking ⋮ A neural network assisted computed torque method for manipulator tracking control problems ⋮ Variable structure control of robot manipulators with nonlinear sliding manifolds

Cites Work

• Robust microprocessor control of robot manipulators
• Sliding controller design for non-linear systems
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Matrix Analysis
• A new controller design for manipulators using the theory of variable structure systems
• Simple sliding mode control scheme applied to robot manipulators
• A Stability Theorem for Mechanical Systems With Constraint Damping

This page was built for publication: Robust trajectory following of robots using computed torque structure with VSS