Journal of Systems Engineering and Electronics ›› 2009, Vol. 20 ›› Issue (1): 129-135.
• CONTROL THEORY AND APPLICATION • Previous Articles Next Articles
Peng Wendong & Su Jianbo
Online:
Published:
Abstract:
A composite nonlinear feedback tracking controller for motion control of robot manipulators is described. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.
Peng Wendong & Su Jianbo. Tracking controller for robot manipulators via composite nonlinear feedback law[J]. Journal of Systems Engineering and Electronics, 2009, 20(1): 129-135.
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https://www.jseepub.com/EN/Y2009/V20/I1/129