Robust control for master-slave manipulator system avoiding obstacle collision under restricted working space
DOI10.1049/iet-cta.2019.0824zbMATH Open1544.93115MaRDI QIDQ6598757
Alexander S. Poznyak, David Cruz-Ortiz, Isaac Chairez
Publication date: 5 September 2024
Published in: IET Control Theory \& Applications (Search for Journal in Brave)
state feedbacklinear systemslinear matrix inequalitiesfeedbacktime-varying systemsrobust controlnonlinear control systemsrobotic manipulatorcollision avoidancemaster-slave configurationteleroboticsMSCcontrol system synthesisend-effectormanipulatorsRMtime-varying gainsSRMintegral compensationend effectorsgiven workspacemaster-slave manipulator systemobstacle collisionrestricted working spacerobust output-based controllerslave robot manipulatorstate feedback structuresuboptimal control gainstime-variable gains
Sensitivity (robustness) (93B35) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)
Cites Work
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- Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes
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