DocumentCode
358656
Title
Illustrating a robust nonlinear tracking control methodology with a closed-kinematic chain
Author
Aguilar-Ibanez, C. ; Martínez-García, J.C. ; Salazar-Cruz, S.
Author_Institution
CIC, Inst. Politecnico Nacional, Mexico City, Mexico
Volume
4
fYear
2000
fDate
2000
Firstpage
2506
Abstract
In this paper we propose a simple nonlinear control law to guarantee the model tracking for a two degree of freedom closed-kinematic chain. It is shown that the tracking error is exponentially stable for any finite initial conditions. The stability proof is based on the direct method of Lyapunov
Keywords
Lyapunov methods; asymptotic stability; feedback; manipulator kinematics; nonlinear control systems; robust control; tracking; 2-DOF closed-kinematic chain; Lyapunov direct method; closed-kinematic chain; exponentially stable tracking error; guaranteed model tracking; robust nonlinear tracking control methodology; stability proof; Adaptive control; Automatic control; Control systems; Feedback control; Lyapunov method; PD control; Proportional control; Robust control; Robust stability; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2000. Proceedings of the 2000
Conference_Location
Chicago, IL
ISSN
0743-1619
Print_ISBN
0-7803-5519-9
Type
conf
DOI
10.1109/ACC.2000.878634
Filename
878634
Link To Document