Robust tracking under nonlinear friction using time-delay control with internal model

IEEE Transactions on Control Systems Technology

Volumn 17, Issue 6, 2009, Pages 1406-1414

  Cho, Gun Rae ^a   Chang, Pyung Hun ^a   Park, Sang Hyun ^a   Jin, Maolin ^b  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

^b Research Institute of Industrial Science and Technology (RIST)   (South Korea)

Author keywords

Friction; Internal model control (IMC); Robot manipulator; Robust tracking control; Time delay control (TDC)

Indexed keywords

ACCURACY LEVEL; INTERNAL MODEL CONTROL; INTERNAL MODEL CONTROL (IMC); INTERNAL MODELS; NONLINEAR FRICTION; PLANT MODEL; ROBOT MANIPULATOR; ROBUST TRACKING; ROBUST TRACKING CONTROL; TIME-DELAY CONTROL; TIME-DELAY CONTROL (TDC);

FLEXIBLE MANIPULATORS; FRICTION; INDUSTRIAL ROBOTS; LATHES; MODEL PREDICTIVE CONTROL; MODULAR ROBOTS; NAVIGATION; PROPORTIONAL CONTROL SYSTEMS; ROBOT APPLICATIONS; ROBUSTNESS (CONTROL SYSTEMS); SEMICONDUCTING INTERMETALLICS; TIME DELAY; TRIBOLOGY;

DELAY CONTROL SYSTEMS;

EID: 70350705976     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2008.2007650     Document Type: Article

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