MANIPULATION
A Simplified Lyapunov-Based Controller for a Robot Manipulator
D.M. Dawson, Frank L. Lewis, C. A. Abdallah
- Year
- 1989
- Citations
- 2
Abstract
This paper derives a controller with simplified structure to achieve trajectory following for a robot manipulator. Lyapunov's second method is used for the design. Bounds on the position error and the velocity error are given, and a computer simulation is provided to verify that the error bounds are correct.
Keywords
Control theory (sociology)TrajectoryLyapunov functionPosition (finance)Controller (irrigation)Computer scienceRobotRobot manipulatorManipulator (device)Control engineering
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