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

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199905)16:5<263::AID-ROB2>3.0.CO;2-Q" /><263::AID-ROB2>3.0.CO;2-Q 10.1002/(SICI)1097-4563(199905)16:5<263::AID-ROB2>3.0.CO;2-QzbMath0953.70009OpenAlexW2049163760MaRDI QIDQ4269686

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<263::aid-rob2>3.0.co;2-q

zbMATH Keywords

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

Mathematics Subject Classification ID

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

Related Items (1)

Perfect position/force tracking of robots with dynamical terminal sliding mode control

Cites Work

• Robust control of discrete time uncertain dynamical systems
• An efficient numerical algorithm for the determinant of a cyclic pentadiagonal Toeplitz matrix
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