Affiliation:
1. Control Engineering Centre, City University, London
Abstract
The tracking control of a robot manipulator in the presence of uncertainties is considered, where the robot manipulator and its actuating system are treated as a set of interconnected sub-systems with bounded uncertainties. Utilizing the local states as well as the states of the connecting sub-systems, a class of decentralized continuous non-linear feedback control law is presented for the tracking problem of the robotic system. The design of the controller is based on the deterministic approach.
Subject
Mechanical Engineering,Control and Systems Engineering
Cited by
3 articles.
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