Novel adaptive backstepping control of uncertain electrically driven haptic robot for surgical training systems

DOI10.1080/00207179.2020.1857845zbMath1492.93089OpenAlexW3108626978MaRDI QIDQ5863722

Mark Driscoll, Brahim Brahmi, Khaled El-Monajjed

Publication date: 3 June 2022

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

Full work available at URL: https://doi.org/10.1080/00207179.2020.1857845

zbMATH Keywords

adaptive controlstate observerfunction approximation techniqueunknown dynamicshapticssurgical training systemunknown actuators parameters

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Medical applications (general) (92C50)

Cites Work

• Adaptive nonlinear control without overparametrization
• Springer Handbook of Robotics
• Higher-order sliding modes, differentiation and output-feedback control
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