A simple linear stabilizing controller for RLED robot manipulators with uncertain models

Amit Ailon, Michael I. Gil, Eun S. Choi, Byung H. Ahn

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This study considers the stability problem of a rigid-link electrically driven (RLED) robot manipulators. We present a linear controller which ensures local exponential stability. As far as the mechanical subsystem is concerned, we assume that only bounds on the unknown parameters are available.

Original languageEnglish
Title of host publicationProceedings of the 1998 American Control Conference, ACC 1998
Pages929-933
Number of pages5
DOIs
StatePublished - 1 Dec 1998
Event1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
Duration: 24 Jun 199826 Jun 1998

Publication series

NameProceedings of the American Control Conference
Volume2
ISSN (Print)0743-1619

Conference

Conference1998 American Control Conference, ACC 1998
Country/TerritoryUnited States
CityPhiladelphia, PA
Period24/06/9826/06/98

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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