Strict Lyapunov functions for control of robot manipulators

DOI10.1016/S0005-1098(96)00194-XMaRDI QIDQ1361329zbMATH OpenOpenAlexFDO

Authors Rafael Kelly, Victor Santibáñez

Publication date 10 May 2001

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0005-1098(96)00194-x

zbMATH Keywords

regulationstrict Lyapunov functionsrobotic manipulatorsartificial potential energyenergy shaping techniquestracking controllers

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Lyapunov and storage functions (93D30)

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Cites work

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• scientific article; zbMATH DE number 2210655 (Why is no real title available?)
• A New Feedback Method for Dynamic Control of Manipulators
• A unified perspective on robot control: The energy lyapunov function approach
• Globally asymptotically stable ‘PD+’ controller for robot manipulators
• Lyapunov function-based control laws for revolute robot arms: tracking control, robustness, and adaptive control

Cited in

(16)

• Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs
• Strict Lyapunov functions for finite-time control of robot manipulators
• Control of a quadrotor and a ground vehicle manipulating an object
• Constrained discrete model predictive control of an arm‐manipulator using Laguerre function
• Stable robot manipulator parameter identification: a closed-loop input error approach
• Trajectory-tracking in finite-time for robot manipulators with bounded torques via output-feedback
• scientific article; zbMATH DE number 2232254 (Why is no real title available?)
• Analysis and synthesis of global nonlinear \(\mathcal{H}_{\infty}\) controller for robot manipulators
• Triangular form for Euler-Lagrange systems with application to the global output tracking control
• Strict Lyapunov function for sliding mode control of manipulator using quasi-velocities
• Velocity control of robot manipulators: Analysis and experiments
• A stable motion control system for manipulators via fuzzy self-tuning
• Lyapunov function-based control laws for revolute robot arms: tracking control, robustness, and adaptive control
• A unified perspective on robot control: The energy lyapunov function approach
• Thrust vector control of constrained multibody systems
• Lyapunov‐based finite‐time control of robot manipulators

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