Tracking control of flexible joint robots with uncertain parameters and disturbances

DOI10.1109/9.284895zbMath0816.93062OpenAlexW2115560892MaRDI QIDQ4307434

Patrizio Tomei

Publication date: 28 September 1994

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.284895

zbMATH Keywords

coordinate transformationtracking controlfrictional forcesuncertain parameters and disturbancesrobots having elastic joints

Mathematics Subject Classification ID

Control/observation systems with incomplete information (93C41) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Synthesis problems (93B50) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (7)

Adaptive disturbance attenuation with global stability for rigid and elastic joint robots ⋮ A robust optimal trajectory tracking control for systems with an input delay ⋮ Modelling and adaptive tracking control for flexible joint robots with random noises ⋮ Robust trajectory‐tracking in finite‐time for robot manipulators using nonlinear proportional‐derivative control plus feed‐forward compensation ⋮ Adaptive task-space regulation of rigid-link flexible-joint robots with uncertain kinematics ⋮ Robust backstepping output tracking control for SISO uncertain nonlinear systems with unknown virtual control coefficients ⋮ Trajectory tracking control of Euler-Lagrange systems with ISS-like robustness to actuator noises

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