Nonlinear control of hydraulic robots.

Nonlinear control of hydraulic robots.

This paper addresses the control problem of hydraulic robot manipulators. The backstepping design methodology is adopted to develop a novel nonlinear position tracking controller. The tracking errors are shown to be exponentially stable under the proposed control law. The controller is further augme...

Ausführliche Beschreibung

Bibliographische Detailangaben
Veröffentlicht in:IEEE Transactions on robotics and automation 17, 2 (2001).
1. Verfasser: Sirouspour, M.R
Format: Artikel
Sprache:English
Schlagworte:
Lyapunov analysis.
Acceleration feedback.
Adaptation laws.
Adaptive robust sliding-type observers.
Asymptotic stability.
Backstepping design methodology.
Compensation.
Exponentially stable tracking errors.
Hydraulic Stewart platform.
Hydraulic robot manipulators.
Nonlinear position tracking controller.
Parametric uncertainties.