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This paper deals with the tracking control of robot manipulators with uncertain payload. Proposed is a set of novel SM-NPID-like tracking controllers consisting of a linear combination of the linear sliding mode control, proportional control mode, derivative control mode, nonlinear control mode shaped by a nonlinear function of position errors, and two nonlinear integral control modes driven by a...
This paper deals with the position control of robot manipulators with uncertain and varying-time payload. Proposed is a simple class of robot regulators consisting of a linear PD feedback plus a bounded nonlinear term of position errors plus an integral action driven by an NP-D controller, where the nonlinear terms are shaped by a continuous bounded nonlinear function of position errors. By using...
In this paper, we presents a new class of iterative learning control law for a class of nonlinear systems, denoted PD-IPD, which is composed by adding a derivative term in the integrator of PID learning control law. By using Bellman-Gronwall lemma, the simple explicit conditions on the learning gains to ensure convergence are provided in the sense of Lambda norm. An attractive feature of PD-IPD learning...
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