Uncertainty bound-based hybrid control for robot manipulators

Static output feedback sliding mode control for time‐varying delay systems with time‐delayed nonlinear disturbances

“…x and/or x(t −d) ). Since bounds on uncertainties may have nonlinear forms in reality [18], it is pertinent to consider the case when the bounds on disturbances are nonlinear. In this paper, a static output feedback sliding mode control strategy is proposed to stabilize a class of time-varying delay systems with time-delayed nonlinear disturbances.…”

Intelligent systems:

“…The author considers his work further development of the results of K. Narendra and I. Khalifa [819], ® In 1990 Y.-H. Chen and S. Pandey described a hybrid controller for robot manipulators, in which the term hybrid is understood in a sense that it combines the use of both cone-bounded uncertainty and quadratically-bounded uncertainty for controlling the position and force simultaneously under conditions of an imperfect modeling, realistic friction, payload change and external disturbances [675]. ® J. C. H. Chung and G. G. Leininger have developed a controller that compensates jointly for deviations in several variables.…”

“…• In 1995, C. Kwan presents [676] a theoretical analysis for the hybrid controller for manipulators where the term hybrid is understood as a joint force position controller (as it was understood in [675], too).…”

Robust Hybrid Position/Force Control with Adaptive Scheme

“…ThenV is shown bẏ 2 + 8γ 1 ε 2γ 1 thenV < 0. The system (3) has a practical stability by the proposed controller.…”

“…The deterministic robust control design of manipulators can be found in, e.g., Chen (1) , Chen and Pandey (2) , Reithmeier and Leitman (3) , Shoureshi et al (4) , Han (5), (6) , and their bibliographies (7), (8) . In the previous work (6) , we proposed a class of robust hybrid position/force control of robot manipulator and analyzed the stability.…”