A global output feedback controller for flexible joint robots

DOI10.1016/0005-1098(95)00052-XzbMath0839.93055OpenAlexW2008550148MaRDI QIDQ1902580

Salvatore Nicosia, Patrizio Tomei

Publication date: 23 June 1996

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0005-1098(95)00052-x

zbMATH Keywords

Lyapunov functiontrackingasymptotic stabilityrobotsreduced observerelastic joints

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20) Observability (93B07)

Related Items

Two-way fuzzy adaptive identification and control of a flexible-joint robot arm ⋮ Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity ⋮ Global set point control via link position measurement for flexible joint robots ⋮ Stabilization of nonlinear dynamic systems using the system state estimates made by the asymptotic observer

Cites Work

• Stability theory by Liapunov's direct method
• Sufficient Lyapunov-like conditions for stabilization
• Dynamic output feedback regulation for a class of nonlinear systems
• An observer-based set-point controller for robot manipulators with flexible joints
• New results and examples in nonlinear feedback stabilization
• A positive real condition for global stabilization of nonlinear systems
• Modeling and Control of Elastic Joint Robots
• On the stabilization of nonlinear systems using state detection
• A method for the state estimation of elastic joint robots by global position measurements
• An observer for flexible joint robots