Nonlinear controllers for a planar robot arm in a constrained environment.

Vanualailai, Jito; Sharma, Bibhya

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Displaying similar documents to “Nonlinear controllers for a planar robot arm in a constrained environment.”

Stability analysis of uncertain complex-variable delayed nonlinear systems via intermittent control with multiple switched periods

Song Zheng (2018)

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In this paper, an intermittent control approach with multiple switched periods is proposed for the robust exponential stabilization of uncertain complex-variable delayed nonlinear systems with parameters perturbation, in which the considered complex systems have bounded parametric uncertainties. Based on the Lyapunov stability theory and comparison theorem of differential equations, some stability criteria are established for a class of uncertain complex delayed nonlinear systems with...

On practical stability and optimal stabilization of controlled motion

A. A. Martynyuk (1985)

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Common Lyapunov function based on Kullback-Leibler divergence for a switched nonlinear system.

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A generalised proportional-derivative force/vision controller for torque-driven planar robotic manipulators

Carlos Vidrios-Serrano, Marco Mendoza, Isela Bonilla, Berenice Maldonado-Fregoso (2020)

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In this paper, a family of hybrid control algorithms is presented; where it is merged a free camera-calibration image-based control scheme and a direct force controller, both with the same priority level. The aim of this generalised hybrid controller is to regulate the robot-environment interaction into a two-dimensional task-space. The design of the proposed control structure takes into account most of the dynamic effects present in robot manipulators whose inputs are torque signals....

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Vojtech Veselý (1997)

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A new LMI-based robust finite-time sliding mode control strategy for a class of uncertain nonlinear systems

Saleh Mobayen, Fairouz Tchier (2015)

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This paper presents a novel sliding mode controller for a class of uncertain nonlinear systems. Based on Lyapunov stability theorem and linear matrix inequality technique, a sufficient condition is derived to guarantee the global asymptotical stability of the error dynamics and a linear sliding surface is existed depending on state errors. A new reaching control law is designed to satisfy the presence of the sliding mode around the linear surface in the finite time, and its parameters...