Global asymptotic tracking of robot manipulators with a simple decentralised non-linear PD-like controller

Author:

Su Y.X.,Zheng C.H.

Publisher

Institution of Engineering and Technology (IET)

Subject

Electrical and Electronic Engineering,Control and Optimization,Computer Science Applications,Human-Computer Interaction,Control and Systems Engineering

Reference30 articles.

1. On the PID tracking control of robot manipulators

2. Semiglobal stability of saturated linear PID control for robot manipulators

3. Arimoto, S.: ‘Control theory of non-linear mechanical systems: a passivity-based and circuit-theoretic approach’, (Clarendon Press, Oxford 1996)

4. Stability of Phase-Based Gain Modulation with Designer-Chosen Switch Functions

5. Astrom, K.J., and Hagglund, T.: ‘PID controllers: theory, design, and tuning’, (Instrument Society of America, Research Triangle Park, North Carolina 1995)

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