By Topic

Nonlinear trajectory tracking control of a closed-chain manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Su, Y.X. ; Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Kowloon, China ; Dong Sun ; Zheng, C.H.

A magnitude-based gain-scheduling nonlinear PD control is developed, by using a nonlinear exponential function of the error and its change. Performance benefits such as increased damping and reduced tracking error are achieved. The guidelines to determine the appropriate parameters for the proposed nonlinear PD control to guarantee the stability of the closed-loop system are addressed. The proposed nonlinear PD control is very simple and easy of implement. The comparative trajectory tracking results performed on a closed-chain manipulator in the presence of nonlinear friction with the conventional linear PD control demonstrates the effectiveness of the developed approach.

Published in:

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on  (Volume:6 )

Date of Conference:

15-19 June 2004