Guaranteed rates of convergence of a class of PD controllers for trajectory tracking problems of robotic manipulators with dynamic uncertainties

DOI10.1049/IP-CTA:19960060MaRDI QIDQ4331607zbMATH OpenOpenAlexFDO

Authors J. Wang, W. N. Bailey, Stephen J. Dodds

Publication date 4 February 1997

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1049/ip-cta:19960060

zbMATH Keywords

Lyapunov's second method tracking robotic manipulators dynamic uncertainties proportional plus derivative PD

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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