Adaptive force control with active damping for robot manipulators with bounded inputs

DOI10.1007/S40314-022-01976-2OpenAlexW4289336237MaRDI QIDQ2167414

César A. Chávez-Olivares, Lina Rojas-García, Isela Bonilla, Marco Mendoza

Publication date: 25 August 2022

Published in: Computational and Applied Mathematics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s40314-022-01976-2

zbMATH Keywords

Lyapunov stabilityrobot manipulatorbounded inputsforce control

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

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• Further advancements on the output-feedback global continuous control for the finite-time and exponential stabilisation of bounded-input mechanical systems: desired conservative-force compensation and experiments
• A generalised proportional-derivative force/vision controller for torque-driven planar robotic manipulators

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