Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics

DOI10.1016/J.AUTOMATICA.2006.10.025zbMath1117.93351OpenAlexW2124824913MaRDI QIDQ883381

Wail Gueaieb, Miodrag Bolic, Salah al-Sharhan

Publication date: 4 June 2007

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: http://hdl.handle.net/10393/32136

zbMATH Keywords

uncertain systemssliding mode controlrobust controlcoordinated robotshybrid position and force control

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Decentralized systems (93A14) Artificial intelligence for robotics (68T40)

Related Items (12)

Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters ⋮ Task-space coordinated tracking of multiple heterogeneous manipulators via controller-estimator approaches ⋮ Independent force and position control for cooperating manipulators handling an unknown object and interacting with an unknown environment ⋮ Telemanipulation of cooperative robots: a case of study ⋮ Adaptive neural network-based visual servoing control for manipulator with unknown output nonlinearities ⋮ Parallel-distributed model deformation in the fingertips for stable grasping and object manipulation ⋮ Adaptive fuzzy visual tracking control for manipulator with quantized saturation input ⋮ Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics ⋮ Coordinated fuzzy control of robotic arms with actuator nonlinearities and motion constraints ⋮ Position synchronised control of multiple robotic manipulators based on integral sliding mode ⋮ Adaptive synchronised tracking control for multiple robotic manipulators with uncertain kinematics and dynamics ⋮ Disturbance compensation based finite-time tracking control of rigid manipulator

Cites Work

• Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators
• A mixed \(H_{2}/H_{\infty}\) adaptive tracking control for constrained non-holonomic systems.
• Adaptive and Nonlinear Fuzzy Force Control Techniques Applied to Robots Operating in Uncertain Environments
• An Adaptive Approach to Motion and Force Control of Multiple Coordinated Robots
• Planning and controlling cooperating robots through distributed impedance
• An Adaptive Controller for Two Cooperating Flexible Manipulators

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