Robot control for robust stability with finite reachability time in the whole

DOI10.1002/(SICI)1097-4563(199905)16:5%3C263::AID-ROB2%3E3.0.CO;2-QzbMATH Open0953.70009OpenAlexW2049163760MaRDI QIDQ4269686FDOQ4269686

Authors: Annemarie Kökösy, Lyubomir T. Gruyitch 

Publication date: 25 January 2001

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199905)16:5%3C263::aid-rob2%3E3.0.co;2-q

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zbMATH Keywords

convergencediscontinuous nonlinearitiesrobust global stabilitythree-degree-of-freedom robotdynamic equation for errorfinite reachability timenonadaptive control synthesis

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Cites Work

• Robust control of discrete time uncertain dynamical systems
• Title not available (Why is that?)
• Title not available (Why is that?)
• An efficient numerical algorithm for the determinant of a cyclic pentadiagonal Toeplitz matrix

Cited In (4)

• Perfect position/force tracking of robots with dynamical terminal sliding mode control
• Finite-time control for robot manipulators
• Stability analysis of a rigid robot with output-based controller and time delay
• Lyapunov‐based finite‐time control of robot manipulators

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