An exponentially stable adaptive control for force and position tracking of robot manipulators

DOI10.1109/9.754821zbMath0957.93059OpenAlexW2148806858WikidataQ56423952 ScholiaQ56423952MaRDI QIDQ4506759

Bernard Brogliato, C. Canudas de Wit, Luigi Villani

Publication date: 17 October 2000

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

Full work available at URL: https://doi.org/10.1109/9.754821

zbMATH Keywords

adaptive algorithmstiffnessposition trackingforce trackingcontrolling a robot manipulatorpassivity-based position controltime-varying PID control

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)

Related Items (6)

Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control ⋮ Adaptive finite-time impedance backstepping control for uncertain robotic systems interacting with unknown environments ⋮ Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller ⋮ Internal‐model‐based control to reject an external signal generated by a class of infinite‐dimensional systems ⋮ On the PID tracking control of robot manipulators ⋮ Exponentially convergence for the regressor-free adaptive fuzzy impedance control of robots by gradient descent algorithm

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