Stability analysis of a robust PD control law for robot manipulators.
Tien C. HsiaZiqiang MaoPublished in: J. Field Robotics (1996)
Keyphrases
- stability analysis
- sliding mode
- control law
- nonlinear systems
- robot manipulators
- control scheme
- fault tolerant control
- closed loop
- variable structure
- control system
- control strategy
- adaptive controller
- adaptive control
- sliding mode control
- stability margin
- control algorithm
- control theory
- adaptive neural
- motion planning
- optimal control
- adaptive fuzzy
- dynamical systems
- dynamic model
- visual servoing
- lyapunov function
- fuzzy model
- fuzzy controller
- fuzzy rules
- fuzzy systems
- autonomous robots