Nonlinear control of a hydraulic robot using singular perturbations

Abstract

We consider the control problem of a 6-axis hydraulically actuated robot. To elaborate the control, we establish a simplified model which is in standard form to apply the singular perturbation method. We consider successively the problems of trajectory tracking and stabilization.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>