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
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;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.878634
