Robust control for robotic manipulators with non-smooth strategy Online publication date: Wed, 15-Apr-2015
by Dongya Zhao; Hao Liang; Quanmin Zhu
International Journal of Modelling, Identification and Control (IJMIC), Vol. 23, No. 2, 2015
Abstract: In this paper, a novel non-smooth robust control approach is presented for robotic manipulators. By using decimal power rule in Lyapunov redesign methods, the conventional robust control for robot is improved. Our approach can achieve higher control precision with faster convergence speed. The formulations of estimating residual set and settling time have been initially established. The practical stability property is analysed. An illustrative example is bench tested to validate the effectiveness of the proposed approach.
Online publication date: Wed, 15-Apr-2015
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email email@example.com