Combined adaptive and variable structure control for constrained robots

DOI10.1016/0005-1098(94)00119-4MaRDI QIDQ1893007zbMATH OpenOpenAlexFDO

Authors Chun-Yi Su, Yury Stepanenko, T. P. Leung

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

Variable structure systems (93B12) Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Combined direct and indirect adaptive control of constrained robots
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Cites work

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

Cited in

(9)

• The Admissible Set for a Robotic System with Unilateral Constraint
• Control of nonlinear systems with time-varying output constraints
• Control of nonlinear systems with partial state constraints using a barrier Lyapunov function
• Adaptive finite-time neural control of non-strict feedback systems subject to output constraint, unknown control direction, and input nonlinearities
• Feedback stabilization and tracking of constrained robots
• TABLF-based adaptive control for uncertain nonlinear systems with time-varying asymmetric full-state constraints
• scientific article; zbMATH DE number 780170 (Why is no real title available?)
• Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators
• Combined direct and indirect adaptive control of constrained robots

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