A new time-varying feedback RISE control for second-order nonlinear MIMO systems: theory and experiments

DOI10.1080/00207179.2019.1704063zbMath1480.93104OpenAlexW2994695572MaRDI QIDQ5018843

Ahmed Chemori, Maher El Rafei, François Pierrot, Mohamed Bouri, Clovis Francis, Hussein Saied

Publication date: 22 December 2021

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://hal-lirmm.ccsd.cnrs.fr/lirmm-02406094/file/IJC_paper_revised_FV.pdf

zbMATH Keywords

stability analysisreal-time experimentsnonlinear feedback gainsparallel kinematic manipulatorsRISE control

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Feedback control (93B52) Nonlinear systems in control theory (93C10) Multivariable systems, multidimensional control systems (93C35) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

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• A new RISE-based adaptive control of PKMs: design, stability analysis and experiments
• A Continuous Asymptotic Tracking Control Strategy for Uncertain Nonlinear Systems

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