An observer-based set-point controller for robot manipulators with flexible joints
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Cites work
- A New Feedback Method for Dynamic Control of Manipulators
- Adaptive control of robot manipulators with flexible joints
- Adaptive motion control of rigid robots: A tutorial
- Adaptive nonlinear control without overparametrization
- An iterative scheme for learning gravity compensation in flexible robot arms
- Computed torque control via a non‐linear observer
- Global regulation of robots using only position measurements
- scientific article; zbMATH DE number 3562783 (Why is no real title available?)
- Passive adaptive control of non‐linear systems
- Robot control by using only joint position measurements
Cited in
(36)- Asymptotically stable set point control laws for flexible robots
- Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters
- On output feedback stabilization of Euler-Lagrange systems with nondissipative forces
- On the role of passivity and output injection in the output feedback stabilisation problem: Application to robot control
- On global regulation of robot manipulators: Saturated linear state feedback and saturated linear output feedback
- A note on bounded-input feedback global stabilization of robot manipulators
- Semiglobal stability of saturated linear PID control for robot manipulators
- Controller-observers for set-point tracking of flexible-joint robots including Coriolis and centripetal effects in motor dynamics
- Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control.
- Global tracking controllers for flexible-joint manipulators: A comparative study
- A global output feedback controller for flexible joint robots
- Stable observer-based trajectory controller for asymptotic model matching of a rigid robot
- Stabilization of nonlinear dynamic systems using the system state estimates made by the asymptotic observer
- Energy regulation of torque-driven robot manipulators in joint space
- On the matching equations of energy shaping controllers for mechanical systems
- Comparative Study on State Estimation in Elastic Joints
- A hybrid scheme for reducing peaking in high-gain observers for a class of nonlinear systems
- Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces
- A method for the state estimation of elastic joint robots by global position measurements
- Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements
- Stability of nonlinear teleoperators using PD controllers without velocity measurements
- Control of a Class of Manipulators With a Single Flexible Link: Part II—Observer-Controller Stabilization
- Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics
- Stabilization of the position of a Lagrangian system with elastic elements and bounded control, with and without measurement of velocities
- Global regulation of elastic joint robots based on energy shaping
- Joint tracking controller for multi-link flexible robot using disturbance observer and parameter adaptation scheme
- Tracking control of flexible joint manipulators using only position measurements
- Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity
- Improved hybrid position/force controller design of a flexible robot manipulator using a sliding observer
- scientific article; zbMATH DE number 1437291 (Why is no real title available?)
- Leader-follower and leaderless consensus in networks of flexible-joint manipulators
- Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes
- Global output feedback tracking control for a class of Lagrangian systems
- Global set point control via link position measurement for flexible joint robots
- Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models
- A unifying point of view on output feedback designs for global asymptotic stabilization
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