Tracking Controllers for Robot Manipulators: A High Gain Perspective

DOI10.1115/1.3152645zbMath0649.93050OpenAlexW2107074091MaRDI QIDQ3795564

Cheng Neng Hwang, Suhada Jayasuriya

Publication date: 1988

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3152645

zbMATH Keywords

synthesisrobustnessdisturbancesparameter uncertaintyrobotic manipulatorspath trackinghigh gain mechanismnonlinear precompensator

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Application models in control theory (93C95) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Synthesis problems (93B50) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (2)

Adaptive robust tracking of nonlinear systems and with an application to a robotic manipulator ⋮ Decentralized model-based control of a class of large-scale interconnected systems

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