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    Simple Robust r − α Tracking Controllers for Uncertain Fully-Actuated Mechanical Systems

    Source: Journal of Dynamic Systems, Measurement, and Control:;1997:;volume( 119 ):;issue: 004::page 821
    Author:
    Salah Zenieh
    ,
    Martin Corless
    DOI: 10.1115/1.2802397
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: We consider the problem of designing robust tracking controllers for uncertain fully-actuated mechanical systems. We propose controllers which are robust r − α tracking controllers in the following sense. For a prespecified rate of convergence α > 0 and a prespecified tolerance r > 0, a proposed controller guarantees that the system’s trajectory exponentially converges to any desired trajectory with rate a and to within the tolerance r. Controller design is based on Lyapunov functions. The main advantage of these controllers is their simplicity. These controllers do not use the regressor matrix made popular in the area of robotic control which makes them simple to implement. Application to a two-link robotic manipulator is presented. Numerical simulation results are included.
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      Simple Robust r − α Tracking Controllers for Uncertain Fully-Actuated Mechanical Systems

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    http://yetl.yabesh.ir/yetl1/handle/yetl/118349
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    • Journal of Dynamic Systems, Measurement, and Control

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    contributor authorSalah Zenieh
    contributor authorMartin Corless
    date accessioned2017-05-08T23:52:51Z
    date available2017-05-08T23:52:51Z
    date copyrightDecember, 1997
    date issued1997
    identifier issn0022-0434
    identifier otherJDSMAA-26241#821_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/118349
    description abstractWe consider the problem of designing robust tracking controllers for uncertain fully-actuated mechanical systems. We propose controllers which are robust r − α tracking controllers in the following sense. For a prespecified rate of convergence α > 0 and a prespecified tolerance r > 0, a proposed controller guarantees that the system’s trajectory exponentially converges to any desired trajectory with rate a and to within the tolerance r. Controller design is based on Lyapunov functions. The main advantage of these controllers is their simplicity. These controllers do not use the regressor matrix made popular in the area of robotic control which makes them simple to implement. Application to a two-link robotic manipulator is presented. Numerical simulation results are included.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleSimple Robust r − α Tracking Controllers for Uncertain Fully-Actuated Mechanical Systems
    typeJournal Paper
    journal volume119
    journal issue4
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.2802397
    journal fristpage821
    journal lastpage825
    identifier eissn1528-9028
    treeJournal of Dynamic Systems, Measurement, and Control:;1997:;volume( 119 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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