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• W2730348519 abstract "This paper addresses the position-control problem with variable gains for robot manipulators. We present a new regulator based on a hyperbolic-sine structure with tuning rules for control gains. It is demonstrated that the equilibrium point of the closed-loop system is globally, asymptotically stable according to Lyapunov theory. By using a similar methodology, this concept can be extended to other unbounded controllers such as PD and PID. In order to show the usefulness of the proposed scheme and with the purpose of validating its asymptotical stability property, an experimental comparison involving constant gains controllers, for example: simple PD, PID and hyperbolic-tangent schemes vs variable-gains hyperbolic-sine and PD control schemes, was performed by using a three degree-of-freedom, direct-drive robot manipulator." @default.
• W2730348519 created "2017-07-14" @default.
• W2730348519 creator A5054894782 @default.
• W2730348519 creator A5057581775 @default.
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• W2730348519 date "2016-01-01" @default.
• W2730348519 modified "2023-10-17" @default.
• W2730348519 title "Unbounded regulators with variable gains for a direct-drive robot manipulator" @default.
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• W2730348519 doi "https://doi.org/10.7305/automatika.2016.10.969" @default.
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