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The robustness features versus unmatched uncertainties of a hybrid variable structure control strategy for a class of second order systems are analyzed in this paper. The hybrid control relies on a subdivision of the system state space into nested regions, and on an event-driven switching among the control laws associated with each region. By componing globally stabilizing variable structure laws,...
This paper suggests the idea of a universal method for stabilizing discrete-time hybrid switched-control systems of robot manipulators. The core of this idea is based on an on-line trajectory generation algorithm that is able to generate continuous command variables from any arbitrary state of motion. We define a measurable criterion to on-line detect an instability or a potential instability of the...
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