Combined adaptive and variable structure control for constrained robots

DOI10.1016/0005-1098(94)00119-4zbMath0822.93051OpenAlexW2154670825MaRDI QIDQ1893007

Tin-Pui Leung, Yury Stepanenko, Chun-Yi Su

Publication date: 23 October 1995

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/0005-1098(94)00119-4

zbMATH Keywords

adaptive controlvariable structurerobotstracking with constraints

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) Variable structure systems (93B12)

Related Items (6)

Adaptive finite-time neural control of non-strict feedback systems subject to output constraint, unknown control direction, and input nonlinearities ⋮ Control of nonlinear systems with time-varying output constraints ⋮ Combined direct and indirect adaptive control of constrained robots ⋮ TABLF-based adaptive control for uncertain nonlinear systems with time-varying asymmetric full-state constraints ⋮ Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators ⋮ Control of nonlinear systems with partial state constraints using a barrier Lyapunov function

Cites Work

• Theory of nonstationary flows of Maxwell fluids in aqueous solutions of polymers
• Robust adaptive control of a class of nonlinear mechanical systems with unbounded and fast-varying uncertainties
• Sliding controller design for non-linear systems
• Feedback stabilization and tracking of constrained robots
• Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane
• Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
• An adaptive impedance/force controller for robot manipulators
• Force/motion control of constrained robots using sliding mode
• Robust force control for robotic manipulators
• Adaptive hybrid force-position control for redundant manipulators

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