Lyapunov function-based control laws for revolute robot arms: tracking control, robustness, and adaptive control

DOI10.1109/9.121624MaRDI QIDQ3989598zbMATH OpenOpenAlexFDO

Authors Kenneth Kreutz-Delgado, John T. Wen, David S. Bayard

Publication date 28 June 1992

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/9.121624

zbMATH Keywords

all-revolute robot armsglobal asymptotic stability

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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