Strict Lyapunov function for sliding mode control of manipulator using quasi-velocities

DOI10.1016/J.MECHRESCOM.2008.09.010MaRDI QIDQ1939852zbMATH OpenOpenAlexFDO

Authors Przemysław Herman

Publication date 5 March 2013

Published in Mechanics Research Communications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechrescom.2008.09.010

zbMATH Keywords

inertia matrixmanipulatorsmatrix equationsrobot controlsliding mode control

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05)

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Cites work

• A unified perspective on robot control: The energy lyapunov function approach
• Control of manipulators with hyper degrees of freedom: Shape tracking using only joint angle information
• scientific article; zbMATH DE number 53595 (Why is no real title available?)
• scientific article; zbMATH DE number 205075 (Why is no real title available?)
• Modelling and control of robot manipulators.
• New class of control laws for robotic manipulators Part 1. Non–adaptive case
• On First-Order Decoupling of Equations of Motion for Constrained Dynamical Systems
• On the robust control of robot manipulators
• Robot control and parameter estimation with only joint position measurements
• Strict Lyapunov functions for control of robot manipulators

Cited in

(1)

• Sliding mode control of manipulators using first-order equations of motion with diagonal mass matrix

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