Robust Joint and Cartesian Control of Underactuated Manipulators

DOI10.1115/1.2801180MaRDI QIDQ5689412zbMATH OpenOpenAlexFDO

Authors Marcel Bergerman, Yangsheng Xu

Publication date 13 February 1997

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://semanticscholar.org/paper/4b6b53d8d99f52bc6a8e94061075a8aab33f40f2

Mathematics Subject Classification ID

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

Cited in

(5)

• Differential algebraic observer-based trajectory tracking for parallel robots via linear matrix inequalities
• A comparison study of nonlinear control techniques for the RTAC system
• Combined control with sliding mode and partial feedback linearization for 3D overhead cranes
• Sliding mode control of underactuated multibody systems and its application to shape change control
• A dynamic coupling index for underactuated manipulators

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