Robust control for robotic manipulators with non-smooth strategy
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

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