Application of robust control techniques to a mobile robot system

DOI10.1002/ROB.4620090703MaRDI QIDQ4024629zbMATH OpenOpenAlexFDO

Authors Frank L. Lewis, Kai Liu

Publication date 4 February 1993

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

Full work available at URL https://doi.org/10.1002/rob.4620090703

zbMATH Keywords

nonlinear second-order multivariable dynamical systemsquasi-saturation functiontrajectory-following controltwo-link mobile robot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

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Cites work

• Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
• Guaranteed Asymptotic Stability for Some Linear Systems With Bounded Uncertainties
• Guaranteed ultimate boundedness for a class of uncertain linear dynamical systems
• scientific article; zbMATH DE number 3523418 (Why is no real title available?)
• scientific article; zbMATH DE number 3081178 (Why is no real title available?)
• scientific article; zbMATH DE number 3109695 (Why is no real title available?)
• On the application of Lyapunov's direct method to differential equations with ambiguous right sides
• On the Efficacy of Nonlinear Control in Uncertain Linear Systems
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Tracking Controllers for Uncertain Systems: Application to a Manutec R3 Robot
• Uncertain dynamical systems--A Lyapunov min-max approach

Cited in

(5)

• Robust control techniques for general dynamic systems
• Robust Control of Robots
• Continuous robust controller guaranteeing ESL for second-order dynamical systems
• Robust control laws for wheeled mobile robots
• Development of a proportional control method for a mobile robot

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