Stability analysis of a robust PD control law for robot manipulators

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199606)13:6<353::AID-ROB2>3.0.CO;2-O" /><353::AID-ROB2>3.0.CO;2-O 10.1002/(SICI)1097-4563(199606)13:6<353::AID-ROB2>3.0.CO;2-OzbMath0886.70017OpenAlexW2083961651MaRDI QIDQ4348628

Z. Mao, T. C. Hsia

Publication date: 18 August 1997

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199606)13:6<353::aid-rob2>3.0.co;2-o

zbMATH Keywords

Popov's hyperstability theorysufficient condition for global stabilitytime-delayed measurements of joint torques

Mathematics Subject Classification ID

Popov-type stability of feedback systems (93D10) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

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