Design of robust PD‐type control laws for robotic manipulators with parametric uncertainties

DOI10.1002/ROB.4620100404zbMath0774.70020OpenAlexW2149542635MaRDI QIDQ4202905

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Publication date: 16 September 1993

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620100404

zbMATH Keywords

stabilitysingularly perturbed systemsorientationstwo-link manipulatordiscontinuous control lawgain matricesLaSalle's stability theorem

Mathematics Subject Classification ID

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

Cites Work

• Robust control for manipulators with uncertain dynamics
• Robust control of robots by the computed torque law
• Effect of inexact inertial parameters on robot manipulator system performance
• Robust trajectory following of robots using computed torque structure with VSS
• A nominal adaptive controller for a robot manipulator
• Robust control for the tracking of robot motion
• Control of Industrial Manipulators With Bounded Uncertainties

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