• DocumentCode
    490559
  • Title

    Two Nonlinear Robot Controllers for Robust Path Tracking

  • Author

    Wang, Danwei ; Wen, Changyun ; Wang, Youyi

  • Author_Institution
    School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 2263
  • fYear
    1993
  • fDate
    2-4 June 1993
  • Firstpage
    2516
  • Lastpage
    2517
  • Abstract
    In this paper, we present two nonlinear robot controllers for robust path tracking. A nonlinear controller is proposed to consist of a PD type feedback with a coefficient which is nonlinear in the norm of tracking errors. The bounds on the tracking error are specified by control parameters. Another controller of switching type is also considered to eliminate the tracking errors.
  • Keywords
    Control design; Couplings; Error correction; Feedback; Friction; Manipulator dynamics; Phasor measurement units; Robot control; Robust control; Uncertainty;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1993
  • Conference_Location
    San Francisco, CA, USA
  • Print_ISBN
    0-7803-0860-3
  • Type

    conf

  • Filename
    4793344
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=490559