Control
Robust Passivity-Based Voltage Control of Robot Manipulators

H. Chenarani; M.M. Fateh

Volume 7, Issue 2 , July 2019, , Pages 145-154

https://doi.org/10.22061/jecei.2020.6041.275

Abstract
  Background and Objectives: This paper presents a robust passivity-based voltage controller (PBVC) for robot manipulators with n degree of freedom in the presence of model uncertainties and external disturbance.Methods: The controller design procedure is divided into two steps. First, a model-based controller ...  Read More