Nonlinear Feedback Law for Tracking Control of DC-Actuated Robots
Keyword(s):
Abstract In this paper, a nonlinear feedback law for tracking control of robots is proposed. The dynamic of actuators and only position measurements are taking into account to design the control law. The stability results are obtained from the passivity property of the system, and using singular perturbations techniques. Simulation tests are performed on a three degrees-of-freedom serial robot to illustrate our control law.
2014 ◽
Vol 1016
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pp. 649-654
1999 ◽
Vol 121
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pp. 594-598
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2014 ◽
Vol 608-609
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pp. 721-725
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1985 ◽
Vol 107
(4)
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pp. 308-315
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2014 ◽
Vol 602-605
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pp. 1113-1116
2018 ◽
Vol 15
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pp. 172988141875577
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