A robust input-to-state energy-shaping based controller of torque-driven robot manipulators
Abstract
This paper presents a robust joint position trajectory tracking controller of torque-driven robot manipulators affected by time-varying disturbances. The main contribution of the present work is the design, analysis and experimentation of a robust control law based on an energy shaping approach. The performance of the proposed controller is demonstrated through experiments on a two degree-of-freedom robot manipulator.
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References
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Copyright (c) 2024 Luis Enrique Cervantes-Pérez, Víctor Adrián Santibáñez-Dávila, Jesús Alberto Sandoval-Galarza
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
