An asymptotic stable proportional derivative control with sliding mode gravity compensation and with a high gain observer for robotic arms

International Journal of Innovative Computing, Information and Control

Volumn 6, Issue 10, 2010, Pages 4513-4525

  de Rubio, Jose Jesus ^a   Soriano, Luis Arturo ^a  

^a INSTITUTO POLITÉCNICO NACIONAL   (Mexico)

Author keywords

Asymptotic stability; Gravity compensation; Proportional derivative control; Robotic arm; Sliding mode control

Indexed keywords

GRAVITY COMPENSATION; HIGH-GAIN OBSERVERS; JOINT VELOCITY; PROPORTIONAL-DERIVATIVE CONTROL; SLIDING MODES;

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; CLOSED LOOP SYSTEMS; ROBOTIC ARMS;

ROBOTICS;

EID: 79952430580     PISSN: 13494198     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

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