Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics

DOI10.1016/j.automatica.2009.05.011zbMath1175.93117OpenAlexW2081594918MaRDI QIDQ1036684

Hanlei Wang, Yongchun Xie

Publication date: 13 November 2009

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2009.05.011

zbMATH Keywords

adaptive controlmanipulatoruncertain kinematicsinverse dynamics control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems with incomplete information (93C41) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Related Items (11)

ℒ2 performance control of robot manipulators with kinematics, dynamics and actuator uncertainties ⋮ The variable-inertia modified computed-torque control of robot manipulators ⋮ Sliding-mode control for teleoperation system with uncertain kinematics and dynamics: an observer-based approach ⋮ Neural network‐based adaptive region tracking control for robot manipulator systems with uncertain kinematics and dynamics ⋮ Adaptive backstepping sliding mode control of trajectory tracking for robotic manipulators ⋮ Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking ⋮ Model Predictive Control for Constrained Image‐Based Visual Servoing in Uncalibrated Environments ⋮ Pose and position trajectory tracking for aerial transportation of a rod-like object ⋮ Task space consensus in networks of heterogeneous and uncertain robotic systems with variable time‐delays ⋮ ANFIS-based an adaptive continuous sliding-mode controller for robot manipulators in operational space ⋮ Stabilisation of descriptor Markovian jump systems with partially unknown transition probabilities

Cites Work

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• Task-space adaptive control of robotic manipulators with uncertainties in gravity regressor matrix and kinematics
• Adaptive Jacobian Tracking Control of Robots With Uncertainties in Kinematic, Dynamic and Actuator Models
• Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics

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