On trajectory tracking control of prismatic and revolute joined robotic manipulators

The purpose of this paper is to construct a trajectory tracking feedback controller for prismatic and revolute joined multi-link robotic manipulators using a new form of sliding modes. Methods. In this paper, the Lyapunov functions method has been applied to establish the stability property of the c...

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Bibliographic Details

Published in:	Известия высших учебных заведений: Прикладная нелинейная динамика
Main Authors:	Andreev, Aleksandr Sergeevich, Peregudova, Olga Alekseevna, Petrovicheva, Yulia Vladimirovna
Format:	Article
Language:	English
Published:	Saratov State University 2021-05-01
Subjects:	trajectory tracking control robot manipulator revolute and prismatic joints lyapunov functions method sliding mode nonlinear system
Online Access:	https://andjournal.sgu.ru/sites/andjournal.sgu.ru/files/text-pdf/2021/05/peregudova.pdf