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Stabilization of uncertain systems subject to hard bounds on control with application to a robot manipulator

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3 Author(s)
M. Hached ; Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA ; S. M. Madani-Esfahani ; S. H. Zak

The problem of estimating the region of stability for uncertain systems with bounded controllers and the sliding mode requirement is examined. A novel type of controller for a class of linear time-invariant systems subject to uncertainties is proposed. A transformation for decoupling the fast and slow states is utilized to investigate the stability-domain estimates of the system. The results are then applied to a two-joint planar manipulator and illustrated by computer simulation

Published in:

IEEE Journal on Robotics and Automation  (Volume:4 ,  Issue: 3 )