Skip to main content Accessibility help

We use cookies to distinguish you from other users and to provide you with a better experience on our websites. Close this message to accept cookies or find out how to manage your cookie settings.

Close cookie message
×
  1. Home
  2. Search

Refine search

Refine search

Access:
Content type:
Publication date:
Apply   From and To filters
Subject: Show more
Journals Show more
Publishers: Show more
Societies Show more
Series: Show more
Collections: Show more

Actions for selected content:

Select all | Deselect all
  • View selected items
  • Export citations
  • Download PDF (zip)
  • Save to Kindle
  • Save to Dropbox
  • Save to Google Drive

Save Search

You can save your searches here and later view and run them again in "My saved searches".

Please provide a title, maximum of 40 characters.
Cancel
×

1 results

  • Forces of reaction and neighbouring Hamilton's principle in the tracking control of manipulators via a sliding scheme

  • Guy Jumarie
  • Journal:
    Robotica / Volume 11 / Issue 3 / May 1993
    Published online by Cambridge University Press:
    09 March 2009, pp. 227-232

  • It is shown that if one comes back to the formulation of the Hamilton's variational principle, it is then possible to obtain new viewpoints on the tracking control of robot manipulators. First, the Lagrange multiplier associated to the sliding surface can be interpretated in terms of control effort and/or forces of reaction of the mechanical system. Secondly, one can use the Taylor expansion of the mechanical Lagrangian, combined with a neighbour- ing Hamilton's principle, to obtain control schemes via sliding surfaces. Thirdly, a perturbation approach combined with the neighbouring Hamilton's principle provides results on the robustness of the control.