Global set point control via link position measurement for flexible joint robots

DOI10.1016/0167-6911(94)00052-WzbMath0877.93074OpenAlexW2058526581WikidataQ62586058 ScholiaQ62586058MaRDI QIDQ674162

Stefano Battilotti, Leonardo Lanari

Publication date: 28 February 1997

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0167-6911(94)00052-w

zbMATH Keywords

Output feedbackflexible joint robotElastic joint robotsGlobal set point control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Related Items (5)

On the role of passivity and output injection in the output feedback stabilisation problem: Application to robot control ⋮ Global output feedback tracking control for a class of Lagrangian systems ⋮ Stabilization of Nonlinear Systems with Filtered Lyapunov Functions and Feedback Passivation ⋮ Robust tracking control for a class of electrically driven flexible-joint robots without velocity measurements ⋮ Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters

Cites Work

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• Output feedback stabilization of a class of non-minimum phase nonlinear systems
• Asymptotically stable set point control laws for flexible robots
• An observer-based set-point controller for robot manipulators with flexible joints
• A global output feedback controller for flexible joint robots
• Modeling and Control of Elastic Joint Robots
• A method for the state estimation of elastic joint robots by global position measurements
• Output feedback stabilization of fully linearizable systems
• An observer for flexible joint robots
• Tools for Semiglobal Stabilization by Partial State and Output Feedback

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