Model-based and model-free control of flexible-link robots: A comparison between representative methods

DOI10.1016/J.APM.2009.01.012MaRDI QIDQ965549zbMATH OpenOpenAlexFDO

Authors G. Rigatos

Publication date 24 April 2010

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.apm.2009.01.012

zbMATH Keywords

energy-based controlmodel-free controlinverse dynamics controlflexible-link robotsneural-adaptive control

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

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• scientific article; zbMATH DE number 1187496
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Cites work

• scientific article; zbMATH DE number 1284113 (Why is no real title available?)
• scientific article; zbMATH DE number 5062991 (Why is no real title available?)
• A modal approach to flatness-based control of flexible structures
• Experimental control of a single-link flexible robot arm using energy shaping
• Experimental results on adaptive nonlinear control and input preshaping for multi-link flexible manipulators
• Feedforward tracking control for non-uniform Timoshenko beam models: combining differential flatness, modal analysis, and FEM
• Inverse dynamics based tuning of a fuzzy logic controller for a single-link flexible manipulator
• Neural and neurofuzzy FELA adaptive robot control using feedforward and counterpropagation networks
• Observer-based adaptive controller design of flexible manipulators using time-delay neuro-fuzzy networks
• On tracking control of flexible robot arms
• Trajectory tracking for π-flat nonlinear delay systems with a motor example

Cited in

(9)

• Analysis of contact-impact dynamics of soft finger tapping system by using hybrid computational model
• Wave-based control of under-actuated flexible structures with strong external disturbing forces
• Closed-form control oriented model of highly flexible manipulators
• Flexible-link robots with combined trajectory tracking and vibration control
• A model based approach to modular multi-objective robot control
• Descriptor modelling towards control of a two link pneumatic robot manipulator: a T-S multimodel approach
• Event-driven model-free control in motion control with comparisons
• Experimental validation of a model-based robust controller for multi-body mechanisms with flexible links
• Model Based Control of a Parallel Robot - A Comparison of Control Algorithms

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