An approach to nonlinear feedback control with applications to robotics

1 November 1984

journal article
Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics

Vol. SMC-14 (6) , 879-884
https://doi.org/10.1109/tsmc.1984.6313314

Abstract

A control problem involving a mechanical system with generalized coordinates q∈R^m is considered. The error in tracking a desired input y^d∈R^p is e=E(q,y^d)∈R^m. If E satisfies simple conditions, it leads to a nonlinear control law that assures e(t)→0 as t→∞. The law is robust in that small changes in it do not produce large steady-state errors or loss of stability. In this theory a unified framework is presented for treating a number of problems in the control of mechanical manipulators.

Keywords

MANIPULATORS
MEASUREMENT UNCERTAINTY
VECTORS
JOINTS
APPROXIMATION METHODS
FEEDBACK CONTROL