A Controller Design Guaranteeing Precise Trajectory Following for a Robotic Manipulator


The controller synthesis procedure proposed in Jayasuriya, et. al (1984), for precise tracking of reference inputs in the sense of spheres is applied to a 3 d.o.f. robotic manipulator. Their methodology applies to a class of nonlinear systems with input uncertainty and parameter uncertainty. The 3 d.o.f. manipulator to be controlled is subjected to varying… (More)

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