Year: 2021
Type: conference-paper
Abstract: This paper presents a dynamic n-link revolute robotic arm that can perform a sequence of tasks and navigate via hierarchal landmarks to its target. The stability condition with multiple Lyapunov functions for switched systems is considered. The multiple Lyapunov functions are formulated from the Lyapunov-based Control Scheme (LbCS) as a tool for analyzing Lyapunov stability. A new set of switched nonlinear, time-invariant, continuous, and stabilizing velocity controllers of the proposed Rnrobotic arm are developed.
Institutions: Fiji National University, University of the South Pacific
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W3214947342