Article ID Journal Published Year Pages File Type
5004890 ISA Transactions 2013 11 Pages PDF
Abstract
► The literature reports the use of linear and non linear PD controllers to achieve motion control of manipulators. ► The proof the robustness of PD controllers for manipulators via singular perturbations is reported in this paper. ► A class of the PD-type controllers is introduced. ► An extension to the case of only position measurements is proposed ► The theoretical results are supported by means of a detailed real-time experimental study.
Related Topics
Physical Sciences and Engineering Engineering Control and Systems Engineering
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