Nonlinear decoupling control for a robot manipulator

Tsirikos, AS; Mastorakis, NE

dc.contributor.author	Tsirikos, AS	en
dc.contributor.author	Mastorakis, NE	en
dc.date.accessioned	2014-03-01T01:48:40Z
dc.date.available	2014-03-01T01:48:40Z
dc.date.issued	1999	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/25548
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-19544393539&partnerID=40&md5=c4dbfed9cd69aec5a999ef11e231aa48	en
dc.subject	Control	en
dc.subject	Decoupling	en
dc.subject	Nonlinear Systems	en
dc.subject	Partial differential equations	en
dc.subject	Robotics	en
dc.subject.other	Differential equations	en
dc.subject.other	Functions	en
dc.subject.other	Linearization	en
dc.subject.other	Manipulators	en
dc.subject.other	Mathematical models	en
dc.subject.other	Nonlinear systems	en
dc.subject.other	Problem solving	en
dc.subject.other	Vectors	en
dc.subject.other	Control laws	en
dc.subject.other	Decoupling	en
dc.subject.other	Robot manipulators	en
dc.subject.other	Robots	en
dc.title	Nonlinear decoupling control for a robot manipulator	en
heal.type	journalArticle	en
heal.publicationDate	1999	en
heal.abstract	A new approach to the decoupling control problem is reported. Necessary and sufficient conditions of algebraic nature for the problem to have a solution, as well as the general analytical solution for the admissible controller are presented. Applying this approach to the robot manipulator, the general analytical expression for the decoupling control law is derived. Appropriate selection of the arbitrary parameters of the control law leads to a linearized and internally stable closed-loop system, thus simplifying the design of an additional output tracking controller.	en
heal.publisher	World Scientific and Engineering Academy and Society	en
heal.journalName	Advances in Intelligent Systems and Computer Science	en
dc.identifier.spage	377	en
dc.identifier.epage	388+xi	en