Strict Lyapunov functions for control of robot manipulators
DOI10.1016/S0005-1098(96)00194-XzbMATH Open0960.93039OpenAlexW2001472720MaRDI QIDQ1361329FDOQ1361329
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
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regulationstrict Lyapunov functionsrobotic manipulatorsartificial potential energyenergy shaping techniquestracking controllers
Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Lyapunov and storage functions (93D30)
Cites Work
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- Globally asymptotically stable ‘PD+’ controller for robot manipulators
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- A New Feedback Method for Dynamic Control of Manipulators
- 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
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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
- Title not available (Why is that?)
- 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
- A unified perspective on robot control: The energy lyapunov function approach
- Lyapunov function-based control laws for revolute robot arms: tracking control, robustness, and adaptive control
- Thrust vector control of constrained multibody systems
- Lyapunov‐based finite‐time control of robot manipulators
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