A robust tracking control scheme for robotic manipulators with uncertain dynamics
conference contribution
posted on 2024-07-12, 23:42 authored by Zhihong ManZhihong Man, M. PalaniswamiA variable-structure compensator is designed for the closed-loop feedback control system of a robotic manipulator with uncertain dynamics. It is shown that the closed-loop system with a variable-structure compensator not only behaves with a strong robustness property with respect to large uncertain dynamics, but also makes the output tracking error converge to zero asymptotically.
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9780780307346Conference name
IEEE International Conference on Systems Engineering, Kobe, Japan, 17-19 September 1992Pagination
3 ppPublisher
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Copyright © 1992 IEEE. The published version is reproduced in accordance with the copyright policy of the publisher. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.Language
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