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Robust controllers for robot manipulators ensure stability of the closed-loop system, even if only partial knowledge of the dynamic model of the manipulator is available. Existing derivations of robust-control laws, while guaranteeing the stability result, present an undesired dependence of the robust-control term on the gains of the controller for the nominal system. This dependence forces larger...
This paper presents an enhanced sliding-mode constrained motion tracking control methodology for piezo-actuated flexure-based micro/nano manipulation mechanisms. This control methodology is formulated to accommodate not only the parametric uncertainties and unknown force conversion function, but also the non-linearities including the hysteresis effect and external disturbances in the manipulation...
There are analyzed the effects of the small delays in the feedback loop that inevitably lead the systems into an unstable situation. How small the delay must be in real conditions, such that to preserve the system stability, will be studied and analyzed for a robot manipulator. The case of an adaptive controller is also developed for the robot system actuated by brushed direct current motors in the...
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