Robust Trajectory Tracking Control of Elastic Robot Manipulators

DOI10.1115/1.2802384zbMath1037.93065OpenAlexW2069776760MaRDI QIDQ4550070

Hisashi Kando, Hiroyuki Ukai, Yoshifumi Morita

Publication date: 1997

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2802384

zbMATH Keywords

sliding mode controlsingular perturbation methodtrajectory tracking\(H^{\infty}\) controlelastic robot manipulator

Mathematics Subject Classification ID

(H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85) Time-scale analysis and singular perturbations in control/observation systems (93C70) Variable structure systems (93B12) Robot dynamics and control of rigid bodies (70E60)

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