Robust trajectory‐tracking in finite‐time for robot manipulators using nonlinear proportional‐derivative control plus feed‐forward compensation
From MaRDI portal
Publication:6068309
DOI10.1002/rnc.5334zbMath1526.93222OpenAlexW3111557165MaRDI QIDQ6068309
Jaime A. Moreno, Emmanuel Cruz-Zavala, Emmanuel Nuño
Publication date: 13 November 2023
Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1002/rnc.5334
Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Finite-time stability (93D40)
Related Items
Cites Work
- Unnamed Item
- Unnamed Item
- Unnamed Item
- Unnamed Item
- Terminal slider control of robot systems
- Discontinuous systems. Lyapunov analysis and robust synthesis under uncertainty conditions
- Bounded output feedback tracking control of fully actuated Euler-Lagrange systems
- Terminal sliding mode control for rigid robots
- Non-singular terminal sliding mode control of rigid manipulators
- Stability notions and Lyapunov functions for sliding mode control systems
- Continuous finite-time control for robotic manipulators with terminal sliding mode
- Perfect position/force tracking of robots with dynamical terminal sliding mode control
- A unified perspective on robot control: The energy lyapunov function approach
- Continuous finite-time regulation of Euler-Lagrange systems via energy shaping
- On adaptive inverse dynamics control of rigid robots
- Finite time stability conditions for non-autonomous continuous systems
- New class of control laws for robotic manipulators Part 1. Non–adaptive case
- Globally asymptotically stable ‘PD+’ controller for robot manipulators
- Adaptive manipulator control: A case study
- Robust tracking control of robots by a linear feedback law
- Sliding order and sliding accuracy in sliding mode control
- Tracking control of flexible joint robots with uncertain parameters and disturbances
- A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators
- A survey of applications of second-order sliding mode control to mechanical systems
- Robust control of robot manipulators: A survey
- Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions
- Finite-Time Stability of Continuous Autonomous Systems
- Chattering Analysis
- Continuous Control for Fully Damped Mechanical Systems With Input Constraints: Finite-Time and Exponential Tracking
- Singularly perturbed analysis of chattering in relay control systems
- Analysis of Chattering in Systems With Second-Order Sliding Modes
- Design and experimental validation of a second-order sliding-mode motion controller for robot manipulators
- Liapunov functions and stability in control theory
