Exponentially stable trajectory following of robotic manipulators under a class of adaptive controls

DOI10.1016/0005-1098(92)90181-EzbMath0766.93056MaRDI QIDQ1194981

Darren M. Dawson, Zhihua Qu, John F. Dorsey

Publication date: 20 October 1992

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

exponential stabilityglobal stabilityrobot manipulatortorque controlvelocity tracking errors

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (5)

Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form ⋮ Exponential tracking control of MIMO nonlinear systems with actuator failures and nonparametric uncertainties ⋮ An exponentially convergent adaptive sliding mode control of robot manipulators ⋮ Chattering-free sliding mode control for a class of nonlinear mechanical systems ⋮ Global stability of trajectory tracking of robot under \(PD\) control

Cites Work

• Unnamed Item
• Adaptive motion control of rigid robots: A tutorial
• Composite adaptive control of robot manipulators
• Robust control of robots by the computed torque law
• Robust control for the tracking of robot motion
• Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
• Robust tracking control of robots by a linear feedback law

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