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...

Deskribapen osoa

Xehetasun bibliografikoak
Argitaratua izan da:IEEE Transactions on robotics and automation 17, 2 (2001).
Egile nagusia: Sirouspour, M.R
Formatua: Artikulua
Hizkuntza:English
Gaiak:
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.