Patrick Keleher
Papers
1
Total Citations
9
H-Index
1
About
Patrick Keleher is a researcher whose work centers on advanced control systems for robotic manipulators, with a particular focus on robust adaptive control and constraint handling in uncertain dynamic environments. His most notable contribution, the 2002 paper "Adaptive terminal sliding mode control of a rigid robotic manipulator with uncertain dynamics incorporating constraint inequalities," introduces a novel approach that integrates physical state constraints directly into the control design process. By employing a multiplicative penalty within a Lyapunov function, Keleher derived analytic control laws capable of guiding a robot's end effector to a desired position despite model uncertainties. This work, which has garnered 9 citations, addresses a critical challenge in robotics: ensuring stability and precision when systems operate under real-world limitations like joint limits or workspace boundaries. Keleher's research bridges theoretical control theory and practical robotic applications, offering solutions that are both mathematically rigorous and implementable. His contributions are particularly relevant for students and engineers working on adaptive control, sliding mode techniques, or constrained robotic systems, providing a foundation for safer and more reliable automation in manufacturing and beyond.
Research Focus
Key Achievements
Top Papers
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