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This paper deals with the tracking control of robot manipulators. Synthesizing the strong robustness of the sliding mode control and the good flexibility of PD-INP-D control, Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus an integral action driven by an NP-D controller. By using Lyapunov's direct method and LaSalle's...
This paper deals with the tracking control of rigid robot manipulators. By synthesizing the strong robustness of sliding mode control and the good flexibility of PD-NP-INP-D control, Proposed is a simple class of robot tracking controller consisting of a linear sliding mode term plus a linear PD feedback plus a bounded nonlinear term of position errors plus an integral action driven by an NP-D controller,...
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...
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