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A Class of OFT Controllers for Torque-Saturated Robot Manipulators: Lyapunov Stability and Experimental Evaluation.
Javier Moreno-Valenzuela
Víctor Santibáñez
Ricardo Campa
Published in:
J. Intell. Robotic Syst. (2008)
Keyphrases
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robot manipulators
sliding mode
control scheme
control strategy
lyapunov stability
control law
dynamic model
sliding mode control
variable structure
control system
control algorithm
controller design
pid controller
stability analysis
tracking error