Path tracking control of robot manipulators via the VSS approach

DOI10.1080/00207729108910595zbMath0744.93071OpenAlexW2121665767MaRDI QIDQ3970206

Wei-Bing Gao, Yong-Duan Song

Publication date: 25 June 1992

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207729108910595

zbMATH Keywords

Lyapunov methodadaptive robot control schemestracking robot trajectories

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Related Items (1)

Adaptive sliding mode control for variable structure systems with constraint control input

Cites Work

• Nonlinear adaptive model-following control
• Adaptive computed torque control for rigid link manipulations
• Adaptive linear controller for robotic manipulators
• On H<sup>∞</sup>-optimal sensitivity theory for SISO feedback systems
• A new controller design for manipulators using the theory of variable structure systems
• New class of control laws for robotic manipulators Part 2. Adaptive case
• Globally asymptotically stable ‘PD+’ controller for robot manipulators
• Variable structure systems with sliding modes
• Simple sliding mode control scheme applied to robot manipulators

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