Decentralized PD and Robust Nonlinear Control for Robot Manipulators

@article{Liu1997DecentralizedPA,
  title={Decentralized PD and Robust Nonlinear Control for Robot Manipulators},
  author={Ming Liu},
  journal={Journal of Intelligent and Robotic Systems},
  year={1997},
  volume={20},
  pages={319-332}
}
A decentralized PD and robust nonlinear feedback law for robot motioncontrol is proposed. The control system structure is based on thegeneralized tracking error proposed by Slotine and Li. Using this systemstructure, a simple and comprehensive result on the local stabilityconditions of PD control is obtained. A decentralized robust nonlinearfeedback term is then added to it to improves the performance of trackingerrors from local convergence to global convergence. Since the approachkeeps the… CONTINUE READING

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