1. Robust Passivity-Based Voltage Control of Robot Manipulators

H. Chenarani; M.M. Fateh

Articles in Press, Corrected Proof, Available Online from 01 November 2019

  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. The suggested controller inherits both advantages of the passivity-based control (PBC) scheme and voltage control strategy ...  Read More