Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters

DOI10.1007/BF01206679MaRDI QIDQ1306187zbMATH OpenFDO

Authors Amit Ailon, Michael I. Gil', Eun-Seok Choi, Byung-Ha Ahn

Publication date 7 June 2000

Published in Circuits, Systems, and Signal Processing (Search for Journal in Brave)

zbMATH Keywords

output feedbackpole placementflexible-joint robotsautomated systemsDC motorsstabilization of systems by feedback

Mathematics Subject Classification ID

Pole and zero placement problems (93B55) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

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Cites work

• scientific article; zbMATH DE number 932226 (Why is no real title available?)
• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators
• An adaptive partial state-feedback controller for RLED robot manipulators
• An observer-based set-point controller for robot manipulators with flexible joints
• Global regulation of flexible joint robots using approximate differentiation
• Global regulation of robots using only position measurements
• Global set point control via link position measurement for flexible joint robots
• Modeling and Control of Elastic Joint Robots
• Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models
• Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics
• Pole assignment by gain output feedback

Cited in

(1)

• Structural properties of a flexible-joint robot model with output controllers and some related applications

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