A partial state feedback controller for tajectory tracking of rigid‐link fiexible‐joint robot using an observed backstepping approach

DOI10.1002/rob.4620121103zbMath0841.70020OpenAlexW2068776781WikidataQ126236488 ScholiaQ126236488MaRDI QIDQ4861124

No author found.

Publication date: 10 January 1996

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620121103

zbMATH Keywords

second-order nonlinear observerssemiglobal exponential stability

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items

Semi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurement ⋮ Globally exponential controller/observer for tracking in robots without velocity measurement ⋮ Globally asymptotic adaptive controller/observer for tracking in robots without velocity measurement ⋮ Observer/Controller With Global Practical Stability for Tracking in Robots Without Velocity Measurement

Cites Work

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• Modeling and Control of Elastic Joint Robots
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• Robot control via robust estimated state feedback
• Robust control of robotic manipulators without velocity feedback
• Adaptive control of robot manipulators via velocity estimated feedback
• An observer for flexible joint robots
• Robot control by using only joint position measurements