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Robust motion tracking control of robotic arms based on the generalized energy accumulation principleConsider a rigid-link robot with the dynamic model tau = H(q;p)q''+C(q,q',p)q'+G(q;p)+Nu(t) where Nu(.) denotes a bounded external disturbance. The objective addressed herein is to find a control strategy that exhibits the following features: (1) simple to implement, (2) easy to code for program, and (3) robust to possible time-varying uncertainties.
Document ID
19930010274
Acquisition Source
Legacy CDMS
Document Type
Other
Authors
Song, Y. D. (North Carolina Agricultural and Technical State Univ. Greensboro, NC, United States)
Anderson, J. N. (Tennessee Technological Univ. Cookeville., United States)
Homaifar, A. (North Carolina Agricultural and Technical State Univ. Greensboro, NC, United States)
Lai, H. Y. (North Carolina Agricultural and Technical State Univ. Greensboro, NC, United States)
Date Acquired
September 6, 2013
Publication Date
December 12, 1992
Publication Information
Publication: The Center for Aerospace Research: A NASA Center of Excellence at North Carolina Agricultural and Technical State University
Subject Category
Mechanical Engineering
Accession Number
93N19463
Distribution Limits
Public
Copyright
Public Use Permitted.

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IDRelationTitle19930010263Collected WorksThe Center for Aerospace Research: A NASA Center of Excellence at North Carolina Agricultural and Technical State University19930010263Collected WorksThe Center for Aerospace Research: A NASA Center of Excellence at North Carolina Agricultural and Technical State University
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