Integrated adaptive-robust control of robot manipulators

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199812)15:12<699::AID-ROB3>3.0.CO;2-O" /><699::AID-ROB3>3.0.CO;2-O 10.1002/(SICI)1097-4563(199812)15:12<699::AID-ROB3>3.0.CO;2-OzbMath0951.70020OpenAlexW2050123591MaRDI QIDQ4269733

Gangbing Song, Lilong Cai, Richard W. Longman

Publication date: 2 January 2001

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199812)15:12<699::aid-rob3>3.0.co;2-o

zbMATH Keywords

closed-loop systemglobal asymptotic stabilitytracking controlLyapunov's direct methodstick-slip frictionStribeck effectviscous friction coefficientjoint stick-slip frictionmaximum static frictionsmooth adaptive-robust friction compensation strategy

Mathematics Subject Classification ID

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

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