Stability and robustness of a class of nonlinear controllers for robot manipulators.
Thambirajah RavichandranDavid W. L. WangGlenn R. HepplerPublished in: ACC (2004)
Keyphrases
- robot manipulators
- variable structure
- stability analysis
- sliding mode
- adaptive controller
- control of robot manipulators
- inverse kinematics
- control scheme
- control system
- real time
- linear matrix inequality
- artificial intelligence
- dynamic model
- pid controller
- regression model
- rough sets
- sliding mode control
- fuzzy logic