Adaptive controller design for flexible joint manipulators

DOI10.1016/0005-1098(96)85559-2zbMath0876.93066OpenAlexW2036652665WikidataQ57528067 ScholiaQ57528067MaRDI QIDQ1911265

Shuzhi Sam Ge

Publication date: 21 April 1996

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0005-1098(96)85559-2

zbMATH Keywords

singular perturbationadaptive controlflexible jointsrobotic manipulators

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Singular perturbations of ordinary differential equations (34D15)

Related Items (6)

Control of mechanical systems with flexibility via a multi-input VS/backstepping design ⋮ Singular perturbation approach to trajectory tracking of flexible robot with joint elasticity ⋮ Modelling and adaptive tracking control for flexible joint robots with random noises ⋮ Two-way fuzzy adaptive identification and control of a flexible-joint robot arm ⋮ Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints ⋮ Nonregular feedback linearization for a class of second-order nonlinear systems

Cites Work

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• Adaptive control of flexible joint manipulators
• On the adaptive control of flexible joint robots
• Robust Adaptive Control for a Class of MIMO Nonlinear Systems by State and Output Feedback
• Modeling and Control of Elastic Joint Robots

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