Adaptive controller for general networked manipulators with uncertain dynamics

MaRDI QIDQ2966561zbMATH OpenFDO

Authors Xing-Jie Wu, Dapeng Xie, Hui Zhou, Zongmin Qiao

Publication date 7 March 2017

Full work available at URL http://ijpam.uniud.it/online_issue/201636/27-WuXieZhouQiao.pdf

zbMATH Keywords

adaptive trackingdynamic frictionLagrange dynamicsredundant manipulatorsuncertain dynamics

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Robot dynamics and control of rigid bodies (70E60) Adaptive control/observation systems (93C40)

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Cited in

(4)

• Real-Time <inline-formula> <tex-math notation="TeX">${\cal L}_{1}$</tex-math></inline-formula> Adaptive Control for Uncertain Networked Control Systems
• Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements
• A unified inner‐/outer‐loop distributed design for task‐space robust cooperative tracking of uncertain networked manipulators under directed graphs
• Observer‐based adaptive control of cooperative multiple manipulators using the Mastroianni operators as uncertainty approximator

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