Stable observer-based trajectory controller for asymptotic model matching of a rigid robot

DOI10.1007/BF02192131zbMath0836.93043OpenAlexW2043333236MaRDI QIDQ1904688

Reuven Segev, Amit Ailon

Publication date: 7 January 1996

Published in: Journal of Optimization Theory and Applications (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/bf02192131

zbMATH Keywords

trackingmodel matchingrobotcontroller-observer

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

Related Items (2)

Estimates of flexible-joint robot model response times and some control applications ⋮ A study on the time-response functions of robot models incorporating actuator dynamics with applications to estimator design

Cites Work

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• Adaptive control of linearizable systems
• The control of robot manipulators with bounded input
• Potentially global stabilizability
• On the structure of the time-optimal controls for robotic manipulators
• Computed torque control via a non‐linear observer
• The peaking phenomenon and the global stabilization of nonlinear systems
• Global regulation of flexible joint robots using approximate differentiation
• Robot control by using only joint position measurements

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