Illustrating a robust nonlinear tracking control methodology with a closed-kinematic chain

C. Aguilar-Ibañez; J. C. Martínez-García; S. Salazar-Cruz

doi:10.1109/acc.2000.878634

Illustrating a robust nonlinear tracking control methodology with a closed-kinematic chain

C. Aguilar-Ibañez, J. C. Martínez-García, S. Salazar-Cruz

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

In this paper we propose a simple nonlinear control law for guarantee the model tracking for a two degree of freedom closed-kinematic chain. It is shown that the tracking error is exponentially stable for any finite initial conditions. The stability proof is based on the Direct Methods of Lyapunov.

Original language	English
Pages (from-to)	2506-2510
Number of pages	5
Journal	Proceedings of the American Control Conference
Volume	4
DOIs	https://doi.org/10.1109/acc.2000.878634
State	Published - 2000
Externally published	Yes

Keywords

Lyapunov Methods
Non Linear Systems
Parallel Robots
Proportional and Derivative control laws
Robust Control

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10.1109/acc.2000.878634

Cite this

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title = "Illustrating a robust nonlinear tracking control methodology with a closed-kinematic chain",

abstract = "In this paper we propose a simple nonlinear control law for guarantee the model tracking for a two degree of freedom closed-kinematic chain. It is shown that the tracking error is exponentially stable for any finite initial conditions. The stability proof is based on the Direct Methods of Lyapunov.",

keywords = "Lyapunov Methods, Non Linear Systems, Parallel Robots, Proportional and Derivative control laws, Robust Control",

author = "C. Aguilar-Iba{\~n}ez and Mart{\'i}nez-Garc{\'i}a, {J. C.} and S. Salazar-Cruz",

year = "2000",

doi = "10.1109/acc.2000.878634",

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AU - Aguilar-Ibañez, C.

AU - Martínez-García, J. C.

AU - Salazar-Cruz, S.

PY - 2000

Y1 - 2000

N2 - In this paper we propose a simple nonlinear control law for guarantee the model tracking for a two degree of freedom closed-kinematic chain. It is shown that the tracking error is exponentially stable for any finite initial conditions. The stability proof is based on the Direct Methods of Lyapunov.

AB - In this paper we propose a simple nonlinear control law for guarantee the model tracking for a two degree of freedom closed-kinematic chain. It is shown that the tracking error is exponentially stable for any finite initial conditions. The stability proof is based on the Direct Methods of Lyapunov.

KW - Lyapunov Methods

KW - Non Linear Systems

KW - Parallel Robots

KW - Proportional and Derivative control laws

KW - Robust Control

UR - http://www.scopus.com/inward/record.url?scp=0034543888&partnerID=8YFLogxK

U2 - 10.1109/acc.2000.878634

DO - 10.1109/acc.2000.878634

M3 - Artículo

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SP - 2506

EP - 2510

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

ER -

Illustrating a robust nonlinear tracking control methodology with a closed-kinematic chain

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Keywords

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