RESEARCH PAPERS: Papers on Control Mechanics

Tracking Controllers for Uncertain Systems: Application to a Manutec R3 Robot

[+] Author and Article Information
Martin Corless

School of Aeronautics and Astronautics, Purdue University, West Lafayette, IN 47907

J. Dyn. Sys., Meas., Control 111(4), 609-618 (Dec 01, 1989) (10 pages) doi:10.1115/1.3153102 History: Received April 15, 1988; Online July 21, 2009


We consider a class of uncertain dynamical systems described by ordinary differential equations and characterized by certain structural conditions and known bounding functions. For a feasible class of desired state motions we present a class of controllers which assure asymptotic tracking to within any desired degree of accuracy. The results are applied to a general class of mechanical systems and are illustrated by a simple example and by application to a three degree-of-freedom model of a Manutec r3 robot.

Copyright © 1989 by ASME
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