Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification

DOI10.1007/S11071-016-2720-6zbMath1355.93133OpenAlexW2301204337MaRDI QIDQ347283

Alireza Izadbakhsh

Publication date: 30 November 2016

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

Full work available at URL: https://doi.org/10.1007/s11071-016-2720-6

zbMATH Keywords

actuator saturationflexible-joint robotsrobust PID controlvoltage control strategy

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Related Items (11)

Robust impedance control of robot manipulators using differential equations as universal approximator ⋮ FAT-based robust adaptive control of electrically driven robots without velocity measurements ⋮ A note on the ``nonlinear control of electrical flexible-joint robots ⋮ Practical tracking control under actuator saturation for a class of flexible-joint robotic manipulators driven by DC motors ⋮ Brenke-type polynomials-based robust adaptive control of cooperative multiple manipulators without velocity measurements ⋮ Robust tracking control of MBT autoloaders with oscillatory chassis and compliant actuators ⋮ Continuous fuzzy nonsingular terminal sliding mode control of flexible joints robot manipulators based on nonlinear finite time observer in the presence of matched and mismatched uncertainties ⋮ Adaptive neural impedance control for electrically driven robotic systems based on a neuro-adaptive observer ⋮ Adaptive sliding mode control of \(n\) flexible-joint robot manipulators in the presence of structured and unstructured uncertainties ⋮ Intelligent fuzzy sliding mode control for complex robot system with disturbances ⋮ Adaptive backstepping control for flexible-joint manipulator using interval type-2 fuzzy neural network approximator

Uses Software

• Simulink
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Cites Work

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• Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty
• A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots
• Dissipative systems analysis and control. Theory and applications

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