A singular perturbation approach for tracking control of a parallel robot including motor dynamics

DOI10.1080/002071797223299MaRDI QIDQ4372947zbMATH OpenOpenAlexFDO

Authors A. Abichou, Lotfi Beji

Publication date 24 August 1998

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/002071797223299

zbMATH Keywords

electrical actuatorinverse dynamicpassivityrobotrobustnesssingular perturbationtracking

Mathematics Subject Classification ID

Time-scale analysis and singular perturbations in control/observation systems (93C70) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85)

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(4)

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• Differential algebraic observer-based trajectory tracking for parallel robots via linear matrix inequalities
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• Dynamic model based nonlinear tracking control of a planar parallel manipulator

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