On the robust control of robot manipulators including actuator dynamics

DOI<1::AID-ROB1>3.0.CO;2-Y 10.1002/(SICI)1097-4563(199601)13:1<1::AID-ROB1>3.0.CO;2-YzbMath0884.70037OpenAlexW2124458291MaRDI QIDQ4348601

Yury Stepanenko, Chun-Yi Su

Publication date: 14 April 1998

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199601)13:1<1::aid-rob1>3.0.co;2-y

zbMATH Keywords

exponential stabilityLyapunov methoddesign procedure

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items

Adaptive Jacobian tracking control of rigid-link electrically driven robots based on visual task-space information

Cites Work

• Composite adaptive control of flexible joint robots
• Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
• Tracking control of rigid-link electrically – driven robot manipulators
• On the robust control of robot manipulators