Non-smooth robust nonlinear control for robotic manipulators

Non-smooth robust nonlinear control for robotic manipulators

A new non-smooth robust nonlinear control approach is proposed for robotic manipulators. Compared with the existing robust nonlinear control for robots, the new developed can achieve higher control precision and faster convergence speed. The stability property is analyzed in terms of Lyapunov redesi...

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Bibliographic Details
Main Authors: Zhao, Donya, Xie, Lihua, Zhu, Quanmin
Other Authors: School of Electrical and Electronic Engineering
Format: Conference or Workshop Item
Language:English
Published: 2013
Subjects:
DRNTU::Engineering::Electrical and electronic engineering
Online Access:https://hdl.handle.net/10356/97938
http://hdl.handle.net/10220/12287
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Institution: Nanyang Technological University
Language: English
Description
Summary:A new non-smooth robust nonlinear control approach is proposed for robotic manipulators. Compared with the existing robust nonlinear control for robots, the new developed can achieve higher control precision and faster convergence speed. The stability property is analyzed in terms of Lyapunov redesign method. An illustrative example is presented to validate the effectiveness of the proposed approach.

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