Statistical analysis of tracking and parametric estimation errors in a 2-link robot based on Lyapunov function

DOI10.1007/s11071-015-2151-9zbMath1348.93201OpenAlexW1941122122MaRDI QIDQ327473

F. Rohit Singla, T. Harish Parthasarathy, S. Vijyant Agarwal

Publication date: 19 October 2016

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-015-2151-9

zbMATH Keywords

Brownian motionwhite noiseparametric uncertaintyrobot manipulatortracking errorPHANToM OmniSDE (stochastic differential equation)

Mathematics Subject Classification ID

Stochastic systems and control (93E99) Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Robot dynamics and control of rigid bodies (70E60)

Related Items (3)

Estimation of stochastic environment force for master-slave robotic system ⋮ Feedback optimization problem for master-slave teleoperation tracking in the presence of random noise in dynamics and feedback ⋮ Classical robots perturbed by Lévy processes: analysis and Lévy disturbance rejection methods

Uses Software

• PHANSIM
• OpenHaptics

Cites Work

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