A fully adaptive decentralized control of robot manipulators

DOI10.1016/J.AUTOMATICA.2006.05.012zbMath1114.93066OpenAlexW2069774386WikidataQ56417957 ScholiaQ56417957MaRDI QIDQ880354

Li-Chen Fu, Su-Hau Hsu

Publication date: 15 May 2007

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: http://ntur.lib.ntu.edu.tw/bitstream/246246/141089/1/28.pdf

zbMATH Keywords

adaptive controldecentralized controlrobot manipulators

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15) Artificial intelligence for robotics (68T40)

Related Items (12)

CONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY ⋮ Decentralized adaptive fuzzy sliding mode control for reconfigurable modular manipulators ⋮ Robust fuzzy control of electrical manipulators ⋮ Adaptive robust coordinated control of multiple mobile manipulators interacting with rigid environments ⋮ End-Point Regulation and Vibration Suppression of a Flexible Robotic Manipulator ⋮ Global continuous finite-time tracking of robot manipulators ⋮ Adaptive neuro-predictive control for redundant robot manipulators in presence of static and dynamic obstacles: A Lyapunov-based approach ⋮ Robust synchronisation tracking control of networked Euler–Lagrange systems using reference trajectory estimation based on virtual double-integrators ⋮ A new terminal sliding mode control for robotic manipulators ⋮ Finite-time control of robotic manipulators ⋮ Decentralized adaptive neural network control for mechanical systems with dead-zone input ⋮ Distributed robust control for synchronised tracking of networked Euler–Lagrange systems

Cites Work

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• Decentralized model reference adaptive control without restriction on subsystem relative degrees
• Decentralized robust control of mechanical systems
• Decentralized adaptive control: structural conditions for stability
• Differential equations with discontinuous right-hand side

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