1. Robust Passivity-Based Voltage Control of Robot Manipulators

H. Chenarani; M.M. Fateh

Volume 7, Issue 2 , Summer and Autumn 2019, , Pages 145-154

  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