New class of control laws for robotic manipulators Part 1. Non–adaptive case

DOI10.1080/00207178808906102zbMath0646.93043OpenAlexW2053471784MaRDI QIDQ3791045

John Ting-Yung Wen, David S. Bayard

Publication date: 1988

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

Full work available at URL: https://doi.org/10.1080/00207178808906102

zbMATH Keywords

Lyapunov functionHamilton's principletracking controlmanipulation robotPD set point (point-to-point) control

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Stability of solutions to ordinary differential equations (34D20) Control/observation systems governed by ordinary differential equations (93C15)

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Cites Work

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• Stability theory by Liapunov's direct method
• New class of control laws for robotic manipulators Part 2. Adaptive case
• A New Feedback Method for Dynamic Control of Manipulators
• Probing signals for model reference identification
• Stability of a spinning body containing elastic parts via Liapunov'sdirect method

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