A sliding manifold approach to the feedback control of rigid robots

DOI<501::AID-RNC141>3.0.CO;2-B 10.1002/(SICI)1099-1239(199607)6:6<501::AID-RNC141>3.0.CO;2-BzbMath0858.93050MaRDI QIDQ4894633

Giuseppe De Maria, Paolo Nistri, Alberto Cavallo

Publication date: 24 November 1996

Full work available at URL: https://doi.org/10.1002/(sici)1099-1239(199607)6:6<501::aid-rnc141>3.0.co;2-b

zbMATH Keywords

tracking; robustness; singular perturbation; sliding mode control; rigid manipulation robots

Mathematics Subject Classification ID

93C73: Perturbations in control/observation systems

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

93B12: Variable structure systems