A unified perspective on robot control: The energy lyapunov function approach

DOI10.1002/acs.4480040607zbMath0731.93067OpenAlexW1981672065MaRDI QIDQ3358611

John Ting-Yung Wen

Publication date: 1990

Published in: International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/acs.4480040607

zbMATH Keywords

trajectory control of robot manipulators

Mathematics Subject Classification ID

Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

Related Items

Unnamed Item ⋮ Strict Lyapunov functions for control of robot manipulators ⋮ Robust trajectory‐tracking in finite‐time for robot manipulators using nonlinear proportional‐derivative control plus feed‐forward compensation ⋮ Trajectory-tracking in finite-time for robot manipulators with bounded torques via output-feedback ⋮ Strict Lyapunov function for sliding mode control of manipulator using quasi-velocities ⋮ Control of robots using radial basis function neural networks with dead-zone ⋮ Canonical transformations used to derive robot control laws from a port-controlled Hamiltonian system perspective ⋮ Continuous finite-time regulation of Euler-Lagrange systems via energy shaping ⋮ Strict Lyapunov functions for finite-time control of robot manipulators

Cites Work

• The Application of Model-Referenced Adaptive Control to Robotic Manipulators