Trajectory tracking and robust stability for a class of time-delayed flexible-joint robotic manipulators

International Journal of Control

Volumn 68, Issue 2, 1997, Pages 259-276

  Chen, Guanrong ^a   Desages, Alfredo ^b   Julian, Pedro ^b  

^a University of Houston   (United States)

^b UNIVERSIDAD NACIONAL DEL SUR   (Argentina)

Author keywords

[No Author keywords available]

Indexed keywords

ERRORS; LINEARIZATION; MANIPULATORS; MATHEMATICAL MODELS; NONLINEAR CONTROL SYSTEMS; PROBABILITY; ROBOTIC ARMS; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY; SYSTEMS ANALYSIS;

TIME DELAYED FLEXIBLE JOINT ROBOTIC MANIPULATORS; TRAJECTORY TRACKING PROBLEM;

CONTROL THEORY;

EID: 0031222559     PISSN: 00207179     EISSN: 13665820     Source Type: Journal    
DOI: 10.1080/002071797223596     Document Type: Article

References (8)

1. Castro, L., Desages, A., and Sendra H., 1991, Distance of a complex coefficient stable polynomial from the boundary of the stability set. Multidimensional Systems and Signal Processing, 2, 189-210.
2. Chen, G., 1992, Analytic closed-form solution for suboptimal trajectory planning of singlelink flexible-joint robot arms. IEEE Transactions on Robotics and Automation, 8, 658-662.
3. Chen, G., and Najjar, A., 1992, Suboptimal trajectory planning for robot arms with small rotational link-angles. Proceedings of the International Simulation Technology Conference, Clear Lake, Texas, U.S.A., 4-6 November, pp. 334-339.
4. Desages, A., Julian, P., Chiacchiarini, H., 1995, Design of nonlinear controllers based on canonical piecewise linear functions. L asac L atinoamerican Symposium of Automatic Control, Bahia Blanca, Argentina.
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8. Stephanopoulos, G., 1984, Chemical Process Control (Englewood Cliffs, New Jersey, U.S.A.: Prentice Hall).