A new variable structure PID-controller design for robot manipulators

IEEE Transactions on Control Systems Technology

Volumn 13, Issue 1, 2005, Pages 122-130

  Jafarov, E M ^a   Parlakci M N A ^b   Istefanopulos, Y ^c  

^a ISTANBUL TECHNICAL UNIVERSITY   (Turkey)

^b ISTANBUL BILGI UNIVERSITY   (Turkey)

^c BOGAZICI UNIVERSITY   (Turkey)

Author keywords

Lyapunov full quadratic form; Robot tracking control; Sliding mode; Variable structure PID controller

Indexed keywords

ALGORITHMS; ASYMPTOTIC STABILITY; COMPUTER SIMULATION; CONTROL EQUIPMENT; LYAPUNOV METHODS; MANIPULATORS; MATRIX ALGEBRA; ROBOTIC ARMS; ROBOTS; SLIDING MODE CONTROL; THEOREM PROVING; UNCERTAIN SYSTEMS;

LYAPUNOV FULL QUADRATIC FORM; PARAMETER UNCERTAINTIES; ROBOT TRACKING CONTROL; VARIABLE STRUCTURE PID CONTROLLER;

CONTROL SYSTEM SYNTHESIS;

EID: 12344316228     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2004.838558     Document Type: Article

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