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Please use this identifier to cite or link to this item: http://eprint.iitd.ac.in/handle/2074/2291

Title: On robustness of decentralized control for robot manipulators
Authors: Swarup, A
Gopal, M
Keywords: decentralized control
state-feedback
robot manipulators
robustness
error-pattern
Issue Date: 1993
Citation: Robotics and Autonomous Systems, 11(2), 109-112p.
Abstract: For the trajectory-tracking problem of robot manipulators various decentralized control schemes are investigated in this paper. These control schemes result in poor tracking performance in case of large payload variations. A compensation scheme using an error-data knowledge base is developed to improve the performance robustness.
URI: http://eprint.iitd.ac.in/dspace/handle/2074/2291
Appears in Collections:Electrical Engineering

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