Control of closed kinematic chains using a singularly perturbed dynamics model

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

Volumn 128, Issue 1, 2006, Pages 142-151

  Wang, Zhiyong ^a   Ghorbel, Fathi H ^a  

^a RICE UNIVERSITY   (United States)

Author keywords

Closed kinematic chains; Composite Lyapunov function; Model based control; Parallel robots; Singular perturbations; Trajectory tracking

Indexed keywords

CLOSED KINEMATIC CHAINS; COMPOSITE LYAPUNOV FUNCTION; MODEL-BASED CONTROL; PARALLEL ROBOTS; SINGULAR PERTURBATIONS; TRAJECTORY TRACKING;

ALGEBRA; CLOSED LOOP CONTROL SYSTEMS; DIFFERENTIAL EQUATIONS; ITERATIVE METHODS; PERTURBATION TECHNIQUES;

KINEMATICS;

EID: 33646376955     PISSN: 00220434     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2171440     Document Type: Article

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