Shubhobrata Rudra

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The robot manipulator joint actuator dynamics and the payload variation are major factors that severely affect the overall dynamics and hence the tracking performance of the direct drives manipulator. This paper proposes a robust and computationally simple approach aimed at compensating the tracking error due to model uncertainty, actuator dynamics, and(More)
This paper presents the formulation of a novel block-backstepping based control algorithm to address the control problem of the well-known nonlinear benchmark two-link planar robot (acrobot) system. For the convenience and compact design, first the state model of the two-link robot has been transformed into a block-strict feedback form. Then the control(More)
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