Bounded decoupling control for flexible-joint robot manipulators with state estimation
DOI10.1049/iet-cta.2019.1007zbMATH Open1542.93282MaRDI QIDQ6608981
Publication date: 20 September 2024
Published in: IET Control Theory \& Applications (Search for Journal in Brave)
uncertain systemsnonlinear filterstrackingadaptive controlrobust controlstate estimationextended Kalman filterradial basis function networksKalman filterscontrol lawslow subsystemsclosed loop systemscontrol system synthesismanipulatorscontrol nonlinearitiesstate measurementsneurocontrollersbounded controlleradaptive scheme combining backstepping controlbounded decoupling controlclosed-loop tracking controlfast subsystemsflexible-joint robot manipulatorjoint motors
Filtering in stochastic control theory (93E11) Adaptive control/observation systems (93C40) Estimation and detection in stochastic control theory (93E10) Automated systems (robots, etc.) in control theory (93C85) Time-scale analysis and singular perturbations in control/observation systems (93C70)
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