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-QMaRDI QIDQ4269686zbMATH OpenOpenAlexFDO

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

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)

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Cites work

• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• scientific article; zbMATH DE number 839077 (Why is no real title available?)
• An efficient numerical algorithm for the determinant of a cyclic pentadiagonal Toeplitz matrix
• Robust control of discrete time uncertain dynamical systems

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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