Nonlinear optimal control for multi‐DOF robotic manipulators with flexible joints

DOI10.1002/OCA.2756zbMath1485.93395OpenAlexW3186440659MaRDI QIDQ5067049

Masoud Abbaszadeh, Gerasimos G. Rigatos

Publication date: 31 March 2022

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/oca.2756

zbMATH Keywords

global asymptotic stabilitynonlinear optimal controlLyapunov analysisflexible-joint robotsH-infinity controlmulti-DOF robotic manipulatorsdifferential flatness propertiesunderactuated robotic systems

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Related Items (1)

A non‐inherent parametric estimation for dynamical equivalence of flexible manipulators

This page was built for publication: Nonlinear optimal control for multi‐DOF robotic manipulators with flexible joints