Lyapunov function-based control laws for revolute robot arms: tracking control, robustness, and adaptive control

DOI10.1109/9.121624zbMath0766.93059OpenAlexW2110187574MaRDI QIDQ3989598

Kenneth Kreutz-Delgado, John Ting-Yung Wen, David S. Bayard

Publication date: 28 June 1992

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.121624

zbMATH Keywords

global asymptotic stabilityall-revolute robot arms

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

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Decentralized adaptive tracking control of robot manipulators ⋮ Strict Lyapunov functions for control of robot manipulators ⋮ Decentralized adaptive control of manipulators ⋮ Perfomance‐based adaptive tracking control of robot manipulators ⋮ Intelligent hybrid control strategy for trajectory tracking of robot manipulators ⋮ A new class of adaptive controllers for robot trajectory tracking ⋮ Region-based flocking control for networked robotic systems with communication delays ⋮ Robot robust path tracking

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