Bounded decoupling control for flexible-joint robot manipulators with state estimation

DOI10.1049/IET-CTA.2019.1007MaRDI QIDQ6608981zbMATH OpenFDO

Authors Xin Cheng, Hua-Shan Liu

Publication date 20 September 2024

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1049/IET-CTA.2019.1007

zbMATH Keywords

adaptive controladaptive scheme combining backstepping controlbounded controllerbounded decoupling controlclosed loop systemsclosed-loop tracking controlcontrol lawcontrol nonlinearitiescontrol system synthesisextended Kalman filterfast subsystemsflexible-joint robot manipulatorjoint motorsKalman filtersmanipulatorsneurocontrollersnonlinear filtersradial basis function networksrobust controlslow subsystemsstate estimationstate measurementstrackinguncertain systems

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Time-scale analysis and singular perturbations in control/observation systems (93C70) Automated systems (robots, etc.) in control theory (93C85) Estimation and detection in stochastic control theory (93E10) Filtering in stochastic control theory (93E11)

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Cites work

• A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs
• A globally stable saturated desired compensation adaptive robust control for linear motor systems with comparative experiments
• Adaptive neural network-based saturated control of robotic exoskeletons
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• An EKF-based nonlinear observer with a prescribed degree of stability
• Bounded-input prescribed performance control of uncertain Euler-Lagrange systems
• Disturbance estimator as a state observer with extended Kalman filter for robotic manipulator
• Extended state observer-based sliding mode fault-tolerant control for unmanned autonomous helicopter with wind gusts
• Further results on the global continuous control for finite-time and exponential stabilisation of constrained-input mechanical systems: desired conservative-force compensation and experiments
• Modeling and Control of Elastic Joint Robots
• Reduced-Order Sliding-Mode-Observer-Based Fault Estimation for Markov Jump Systems
• Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification
• Saturated RISE Feedback Control for a Class of Second-Order Nonlinear Systems

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