Robust controller design for a class of nonlinear robot manipulators with actuator dynamics

DOI10.1080/00207720210123751MaRDI QIDQ4784573zbMATH OpenOpenAlexFDO

Authors Gwang-Seok Park, Dong-Hwan Hwang

Publication date 13 July 2003

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207720210123751

zbMATH Keywords

robust controltrackingvariable structure systemsactuator dynamicsautomated systemsrobot dynamics and control

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85)

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• Attenuation of nonlinearly state-dependent uncertainties: robust control design and its application to robotic manipulators
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• Nonlinear dynamics and control of an inertially actuated jumper robot
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