Abstract
In this chapter, we present the localized control policy which is possible due to the computing of the local dynamic model at each robot joint computed using the recursive Newton–Euler algorithm. We compute the local Hamiltonians at each joint and derive their localized controllers as well. In the experimental part, we compare the performance of PD, Bang–Bang, and sliding mode controllers.
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References
Khalil, H. K. (2002). Nonlinear systems. East Lansing: Pearson.
Utkin, V., Guldner, J., & Shi, J. (1999). Sliding mode control in electromechanic systems. Taylor and Francis.
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Bayro-Corrochano, E. (2020). Control of Robot Manipulators. In: Geometric Algebra Applications Vol. II. Springer, Cham. https://doi.org/10.1007/978-3-030-34978-3_12
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DOI: https://doi.org/10.1007/978-3-030-34978-3_12
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Online ISBN: 978-3-030-34978-3
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