Robust trajectory following of robots using computed torque structure with VSS
DOI10.1080/00207179008953575zbMATH Open0706.70033OpenAlexW2075217678MaRDI QIDQ3486920FDOQ3486920
Authors: S. W. Wijesoma, Rowland Richards 
Publication date: 1990
Published in: International Journal of Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1080/00207179008953575
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- An improved variable structure model‐following control for robotic manipulators
control lawcomputed torque techniquecontrol approachrobust accurate trajectory trackingvariable-structure systems (VSS) theory
Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)
Cites Work
- Matrix Analysis
- Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
- Sliding controller design for non-linear systems
- A Stability Theorem for Mechanical Systems With Constraint Damping
- Simple sliding mode control scheme applied to robot manipulators
- Robust microprocessor control of robot manipulators
- A new controller design for manipulators using the theory of variable structure systems
Cited In (6)
- Design of robust PD‐type control laws for robotic manipulators with parametric uncertainties
- A neural network assisted computed torque method for manipulator tracking control problems
- Variable structure control of robot manipulators with nonlinear sliding manifolds
- A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach
- Adaptive second order terminal sliding mode controller for robotic manipulators
- Robot robust path tracking
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