An adaptive variable structure control scheme for underactuated mechanical manipulators

DOI10.1155/2012/270649zbMath1264.93162OpenAlexW2115305909WikidataQ58911355 ScholiaQ58911355MaRDI QIDQ1954594

Jung Hua Yang, Kuang Shine Yang

Publication date: 11 June 2013

Published in: Mathematical Problems in Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1155/2012/270649

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Related Items (3)

A review on the control of second order underactuated mechanical systems ⋮ Robust adaptive PID control of robot manipulator with bounded disturbances ⋮ Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance

Cites Work

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• L\(_2\)-gain and passivity techniques in nonlinear control
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment
• Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one

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