Global positioning of robot manipulators via pd control plus a class of nonlinear integral actions

IEEE Transactions on Automatic Control

Volumn 43, Issue 7, 1998, Pages 934-938

  Kelly, Rafael ^a  

^a CENTRO DE INVESTIGACIÓN CIENTÍFICA Y DE EDUCACIÓN SUPERIOR DE ENSENADA   (Mexico)

Author keywords

Manipulators; Position control; Stability

Indexed keywords

ASYMPTOTIC STABILITY; ERRORS; FEEDBACK; FUNCTIONS; LYAPUNOV METHODS; MATRIX ALGEBRA; NONLINEAR CONTROL SYSTEMS; POSITION CONTROL; ROBOTS; TWO TERM CONTROL SYSTEMS; VECTORS;

LASALLE INVARIANCE PRINCIPLE; LINEAR PROPORTIONAL DERIVATIVE FEEDBACK; NONLINEAR FUNCTIONS;

MANIPULATORS;

EID: 0032122125     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.701091     Document Type: Article

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