Robust control for robotic manipulators with non smooth strategy

This paper presents a robust backstepping control (BC) methodbased on nonlinear disturbance observer (NDOB) for trajectory tracking of the nonholonomic wheeled mobile robot (WMR)

Cai, Robust position/force control of robot manipulators during constrained task, iEEE Proceedings on Control Theory and Applications, VoL 145, pp. Villani, Adaptive

In this paper, a robust chattering free backstepping sliding mode controller is successfully developed for attitude stabilization and trajectory tracking of a

As illustrated in the examples of Section 4, this permits the design of robust control algorithms utilizing approximate inverse filters which achieve specified tracking criteria

Applied nonlinear control (Vol. Prentice-Hall, Englewood Cliffs, NJ. On the adaptive control of robot manipulators. & Ramadorai, A.K. Performance comparison of four

This paper proposes an interval version of the Lyapunov equation, which allows investigating a given Lyapunov candidate function for non-smooth nonlinear systems inside an