Comparison Between Some Nonlinear Controllers for the Position Control of Lagrangian-type Robotic Systems

Comparison Between Some Nonlinear Controllers for the Position Control of Lagrangian-type Robotic Systems

This work addresses the set-point control problem of the position of fully-actuated Lagrangian-type robotic systems by means of some nonlinear control laws. We adopt four different nonlinear control laws: the PD plus gravity compensation controller, the PD plus desired gravity compensation controlle...

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Bibliographic Details
Main Authors: Professor Giuseppe Carbone, Sahar Jenhani, Hassène Gritli
Format: Article
Language:English
Published: Akif AKGUL 2022-12-01
Series:Chaos Theory and Applications
Subjects:
lagrangian robotic systems
nonlinear dynamics
approximated linear model
position control
nonlinear controllers
stability
stabilization
solution uniqueness
Online Access:https://dergipark.org.tr/en/download/article-file/2691463

Internet

https://dergipark.org.tr/en/download/article-file/2691463

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