Asymptotically stable robust control of robot manipulators. Most robust control methods of robot manipulators guarantee small tracking errors by applying sufficiently high feedback gains. Infinite gains are required for zero tracking errors.
Abstract: Most robust control methods of robot manipulators guarantee small tracking errors by applying sufficiently high feedback gains.
Most robust control methods of robot manipulators guarantee small tracking errors by applying sufficiently high feedback gains. Infinite gains are required ...
In this paper, we derive a globally asymptotically stable robust control scheme by combining integral control with a robust saturation control law. The proposed.
IEEE Transactions on Automatic Control, 1988. Robustness results were recently obtained for the linear and nonlinear control of robot manipulators using the ...
In this paper, stability is always with respect to x = 0. Our goal is to solve the following robust control problem. Robust Control Problem: Find a feedback ...
A new class of asymptotically stable adaptive control laws is introduced for application to the robotic manipulator. Unlike most applications of adaptive ...
Oct 22, 2024 · This paper investigates how to control a robot manipulator, which has model uncertainties, to perform contact tasks upon an uncertain dynamic ...
Asymptotic stability is lost and the system may exhibit relatively larger final tracking errors as in DRC. Some comparative experiments were carried out in ...
Abstract: This paper proposes a robust control law for trajectory tracking problem of an n-link robot manipulator subjected to parametric uncertainty.