Integrated adaptive-robust control of robot manipulators

DOI10.1002/(SICI)1097-4563(199812)15:12%3C699::AID-ROB3%3E3.0.CO;2-OMaRDI QIDQ4269733zbMATH OpenOpenAlexFDO

Authors Gangbing Song, Richard W. Longman, Lilong Cai

Publication date 2 January 2001

Full work available at URL https://doi.org/10.1002/(sici)1097-4563(199812)15:12%3C699::aid-rob3%3E3.0.co;2-o

zbMATH Keywords

closed-loop systemglobal asymptotic stabilityjoint stick-slip frictionLyapunov's direct methodmaximum static frictionsmooth adaptive-robust friction compensation strategystick-slip frictionStribeck effecttracking controlviscous friction coefficient

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(10)

• An adaptive friction compensator for global tracking in robot manipulators
• The precise control of manipulators with high joint-friction using base force/torque sensing
• Adaptive robust simultaneous stabilization of multiple \(n\)-degree-of-freedom robot systems
• Application of logarithmic-based parameter and upper bounding estimation rules to adaptive-robust control of robot manipulators
• Robust adaptive friction compensation for tracking control of robot manipulators
• Robust attitude tracking control of flexible spacecraft for achieving globally asymptotic stability
• Joint stick‐slip friction compensation of robot manipulators by using smooth robust controllers
• Hybrid adaptive‐robust control for a robot manipulator
• Switched adaptive tracking control of robot manipulators with friction and changing loads
• Combined computed torque and model reference adaptive control of robot systems

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