Dynamic modeling and control of multi-axis manipulator based on the Udwadia–Kalaba theory
The high accuracy tracking control of multi-axis manipulator with uncertainty is always a difficult problem for control theorists and engineers. The Udwadia–Kalaba theory effectively characterizes the explicit dynamics equations of constrained mechanical systems. The Sliding Mode Control (SMC) law i...
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| Main Authors: | , , , , |
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| Format: | Artigo |
| Language: | Inglês |
| Published: |
SAGE Publishing
2026-02-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940241300000 |
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