Universal continuous laws for controlling the manipulation robot

MaRDI QIDQ1290750zbMATH OpenFDO

Authors V. I. Matyukhin

Publication date 4 July 1999

Published in Automation and Remote Control (Search for Journal in Brave)

zbMATH Keywords

bounded controlsfrictionmanipulator's joint trajectory tracking algorithmssaturationvector Lyapunov function

Mathematics Subject Classification ID

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

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• Using the decomposition principle to stabilize the nominal motion of a mechanical system with given accuracy
• On design of continuous Lyapunov's feedback control
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• A sliding manifold approach to the feedback control of rigid robots
• Asymptotic robot manipulator generalized inverse dynamics

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