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...
Main Authors: | Professor Giuseppe Carbone, Sahar Jenhani, Hassène Gritli |
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Format: | Article |
Language: | English |
Published: |
Akif AKGUL
2022-12-01
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Series: | Chaos Theory and Applications |
Subjects: | |
Online Access: | https://dergipark.org.tr/en/download/article-file/2691463 |
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