Inverse-dynamics- and disturbance-observer-based tube model predictive tracking control of uncertain robotic manipulator

DOI10.1016/J.JFRANKLIN.2023.04.005zbMath1518.93037MaRDI QIDQ6113882

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Publication date: 11 July 2023

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

zbMATH Keywords

robotic manipulatorstrajectory tracking controlrobust hierarchical multi-loop composite control

Mathematics Subject Classification ID

Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Hierarchical systems (93A13) Adaptive or robust stabilization (93D21) Model predictive control (93B45) Observers (93B53)

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Cites Work

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• Robust adaptive tracking control for a class of mechanical systems with unknown disturbances under actuator saturation
• Constrained discrete model predictive control of an arm‐manipulator using Laguerre function
• Integral Sliding Mode Control for Nonlinear Systems With Matched and Unmatched Perturbations

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