Simple robust r - α tracking controllers for uncertain fully-actuated mechanical systems

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 119, Issue 4, 1997, Pages 821-825

  Zenieh, Salah ^a   Corless, Martin ^b  

^a UNITED ARAB EMIRATES UNIVERSITY   (United Arab Emirates)

^b Purdue University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0010344811     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2802397     Document Type: Article

References (17)

1. Ambrosino, G., Celentano, G., Garofalo, F., 1988, “Adaptive Tracking Control of Industrial Robots,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 110, pp. 215-220.
2. Balestrino, A., DeMaria, G., Schiavicco, L., 1983, “An Adaptive Model Following Control for Robotic Manipulators,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 105, pp. 143-145.
3. Bayard, D., and Wen, J., 1988, “New Class of Control Laws for Robotic Manipulators Part 2. Adaptive Case,” International Journal of Control, Vol. 47, pp. 1387-1406.
4. Corless, M., 1989, “Tracking Controllers for Uncertain Systems: Application to a Manutec R3 Robot,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. Ill, pp. 609-618.
5. Corless, M., 1990, “Guaranteed Rates of Exponential Convergence for Uncertain Systems,” Journal of Optimization Theory and Applications, Vol. 64, pp. 471-484.
6. Corless, M., 1993, “Control Of Uncertain Nonlinear Systems,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 115, pp. 362-372.
7. Corless, M., Glielmo, L., 1991, “A New Converse Lyapunov Result on Exponential Stability,” Proc. ¡FAC Symposium on Design Methods for Control Systems, Zurich.
8. Jaritz, A., Spong, M., 1996, “An Experimental Comparison of Passivity Based Robust Controllers on a Direct Drive Manipulator,” IEEE Transactions on Control Systems Technology, Vol. 4, pp. 627-640.
9. Ortega, R., and Spong, M., 1989, “Adaptive Motion Control of Rigid Robots: A Tutorial,” Automatica, Vol. 25, pp. 877-888.
10. Reithmeier, E., and Leitmann, G., 1991, “Tracking and Force Control for a Class of Robotic Manipulators,” Dynamics and Control, Vol. 1, pp. 133-150.
11. Singh, S., 1985, “Adaptive Model Following Control of Non-linear Robotic Systems,” IEEE Transactions on Automatic Control, Vol. AC-30, pp. 1099-1100.
12. Slotine, J., Li, W„ 1987, “On the Adaptive Control of Robot Manipulators,” International Journal of Robotics Research, Vol. 6, pp. 49-59.
13. Slotine, J., Sastry, S., 1983, “Tracking Control of Nonlinear Systems Using Sliding Surfaces, with Application to Robot Manipulators,” International Journal of Control, Vol. 48, pp. 465-492.
14. Spong, M., 1992, “On the Robust Control of Robot Manipulators,” IEEE Transactions on Automatic Control, Vol. 37, pp. 1782-1786.
15. Wen, J., Bayard, D., 1988, “New Class of Control Laws for Robotic Manipulators Part I. Non-Adaptive Case,” International Journal of Control, Vol. 47, pp. 1361-1385.
16. Zenieh, S., 1995, “Nonlinear Control of Mechanical and Aerospace Systems with Flexible Elements: Application to Robotics,” Ph.D. thesis, Purdue University.
17. Zinober, A., 1988, “Variable Structure Model-Following Control of a Robot Manipulator,” Proc. 4th IF AC Symposium on Computer Aided Design in Control System, Beijing, China.