Non-smooth robust nonlinear control for robotic manipulators

• 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
• Institution: Nanyang Technological University

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...