Robust trajectory following of robots using computed torque structure with VSS

DOI10.1080/00207179008953575zbMath0706.70033MaRDI QIDQ3486920

Rowland Jun. Richards, S. W. Wijesoma

Publication date: 1990

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179008953575

zbMATH Keywords

control law; computed torque technique; control approach; robust accurate trajectory tracking; variable-structure systems (VSS) theory

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

70Q05: Control of mechanical systems

70B15: Kinematics of mechanisms and robots

Related Items

A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach, Adaptive second order terminal sliding mode controller for robotic manipulators, Robot robust path tracking, A neural network assisted computed torque method for manipulator tracking control problems, Variable structure control of robot manipulators with nonlinear sliding manifolds, Design of robust PD‐type control laws for robotic manipulators with parametric uncertainties

Cites Work

• Robust microprocessor control of robot manipulators
• Sliding controller design for non-linear systems
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Matrix Analysis
• A new controller design for manipulators using the theory of variable structure systems
• Simple sliding mode control scheme applied to robot manipulators
• A Stability Theorem for Mechanical Systems With Constraint Damping