Global asymptotic tracking of robot manipulators with a simple decentralised non-linear PD-like controller

IET Control Theory and Applications

Volumn 4, Issue 9, 2010, Pages 1605-1611

  Su, Y X ^a   Zheng, C H ^a  

^a XIDIAN UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC TRACKING; CONTROL GAINS; DECENTRALISED; GLOBAL ASYMPTOTIC STABILITY; LYAPUNOV'S DIRECT METHOD; NON-LINEAR; PRACTICAL IMPLEMENTATION; PROPORTIONAL PLUS DERIVATIVES; ROBOT DYNAMICS; ROBOT MANIPULATOR; TRACKING CONTROLS; TWO-DEGREE-OF-FREEDOM; UNCERTAIN ROBOT MANIPULATORS;

ASYMPTOTIC ANALYSIS; ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; MODULAR ROBOTS; ROBOT APPLICATIONS;

CONTROLLERS;

EID: 77956622702     PISSN: 17518644     EISSN: 17518652     Source Type: Journal    
DOI: 10.1049/iet-cta.2008.0423     Document Type: Article

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