Robust trajectory following of robots using computed torque structure with VSS

DOI10.1080/00207179008953575MaRDI QIDQ3486920zbMATH OpenOpenAlexFDO

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

zbMATH Keywords

control lawcomputed torque techniquecontrol approachrobust accurate trajectory trackingvariable-structure systems (VSS) theory

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Path tracking control of robot manipulators via the VSS approach
• Combined computed torque and model reference adaptive control of robot systems
• Robust tracking control for rigid robotic manipulators
• Variable structure control of a robotic arm in the presence of uncertainty
• An improved variable structure model‐following control for robotic manipulators

Cites work

• A Stability Theorem for Mechanical Systems With Constraint Damping
• A new controller design for manipulators using the theory of variable structure systems
• Matrix Analysis
• Robust microprocessor control of robot manipulators
• Simple sliding mode control scheme applied to robot manipulators
• Sliding controller design for non-linear systems
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†

Cited in

(6)

• Adaptive second order terminal sliding mode controller for robotic manipulators
• Robot robust path tracking
• 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

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