Variable structure control of a robotic arm in the presence of uncertainty

DOI10.1002/ROB.4620060202zbMath0666.70037OpenAlexW2001429420MaRDI QIDQ3817696

Sahjendra N. Singh, Youssef N. Zakharia

Publication date: 1989

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620060202

zbMATH Keywords

control system designfrictional torquestheory of variable structure systemsthree-link PUMA armtrajectory control of robotic systems

Mathematics Subject Classification ID

Application models in control theory (93C95) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Cites Work

• Unnamed Item
• Model reference adaptive control algorithms for industrial robots
• Nonlinear adaptive model-following control
• The Application of Model-Referenced Adaptive Control to Robotic Manipulators
• Adaptive linear controller for robotic manipulators
• An adaptive control strategy for mechanical manipulators
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Robust Trajectory Following Control of Robotic Systems
• Control of Elastic Robotic Systems by Nonlinear Inversion and Modal Damping
• Robust tracking in nonlinear systems
• A calculus for computing Filippov's differential inclusion with application to the variable structure control of robot manipulators
• Controller Design for a Manipulator Using Theory of Variable Structure Systems

This page was built for publication: Variable structure control of a robotic arm in the presence of uncertainty