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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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

id	sg-ntu-dr.10356-97938
record_format	dspace
spelling	sg-ntu-dr.10356-979382020-03-07T13:24:48Z Non-smooth robust nonlinear control for robotic manipulators Zhao, Donya Xie, Lihua Zhu, Quanmin School of Electrical and Electronic Engineering World Congress on Intelligent Control and Automation (10th : 2012 : Beijing, China) DRNTU::Engineering::Electrical and electronic engineering 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. 2013-07-25T07:47:34Z 2019-12-06T19:48:33Z 2013-07-25T07:47:34Z 2019-12-06T19:48:33Z 2012 2012 Conference Paper Zhao, D., Xie, L., & Zhu, Q. (2012). Non-smooth robust nonlinear control for robotic manipulators. 2012 10th World Congress on Intelligent Control and Automation (WCICA 2012). https://hdl.handle.net/10356/97938 http://hdl.handle.net/10220/12287 10.1109/WCICA.2012.6358107 en © 2012 IEEE.
institution	Nanyang Technological University
building	NTU Library
country	Singapore
collection	DR-NTU
language	English
topic	DRNTU::Engineering::Electrical and electronic engineering
spellingShingle	DRNTU::Engineering::Electrical and electronic engineering Zhao, Donya Xie, Lihua Zhu, Quanmin Non-smooth robust nonlinear control for robotic manipulators
description	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.
author2	School of Electrical and Electronic Engineering
author_facet	School of Electrical and Electronic Engineering Zhao, Donya Xie, Lihua Zhu, Quanmin
format	Conference or Workshop Item
author	Zhao, Donya Xie, Lihua Zhu, Quanmin
author_sort	Zhao, Donya
title	Non-smooth robust nonlinear control for robotic manipulators
title_short	Non-smooth robust nonlinear control for robotic manipulators
title_full	Non-smooth robust nonlinear control for robotic manipulators
title_fullStr	Non-smooth robust nonlinear control for robotic manipulators
title_full_unstemmed	Non-smooth robust nonlinear control for robotic manipulators
title_sort	non-smooth robust nonlinear control for robotic manipulators
publishDate	2013
url	https://hdl.handle.net/10356/97938 http://hdl.handle.net/10220/12287
_version_	1681044846097203200

Non-smooth robust nonlinear control for robotic manipulators

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