By Topic

Decentralized robust control of mechanical systems

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

4 Author(s)
Tang, Y. ; DEPFI-UNAM, Nat. Univ. of Mexico, Mexico ; Tomizuka, M. ; Guerrero, G. ; Montemayor, G.

For mechanical systems described by Euler-Lagrange equations and involving high-order interconnections, this paper proposes a decentralized control, which guarantees the uniform ultimate stability when the control objective is tracking a smooth desired trajectory. The controller design is based on some physical properties of such systems and Lyapunov design methodology. The application of the proposed controller to robot manipulators is presented, and experiment results are included to illustrate the performance of the proposed control algorithm

Published in:

Automatic Control, IEEE Transactions on  (Volume:45 ,  Issue: 4 )