Robust control of a system with a pneumatic spring

DOI10.1016/J.JFRANKLIN.2020.10.037MaRDI QIDQ2224764zbMATH OpenOpenAlexFDO

Authors Dongwon Kim, Jinoh Lee

Publication date 4 February 2021

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://elib.dlr.de/137448/1/1-s2.0-S0016003220307420-main.pdf

zbMATH Keywords

human-robot interaction systemspneumatic circuitsrobust controltime delay estimation

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Delay control/observation systems (93C43) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A unified passivity based control framework for position, torque and impedance control of flexible joint robots
• Adaptive neural network based tracking control for electrically driven flexible-joint robots without velocity measurements
• An improved stabilization method for linear time-delay systems
• Composite system in noncommutative space and the equivalence principle
• Fuzzy adaptive dynamic surface control for a single-link flexible-joint robot
• PD control with on-line gravity compensation for robots with elastic joints: theory and experiments
• Robust sampled-data stabilization of linear systems: an input delay approach
• Time delay estimation in continuous linear time-invariant systems

Cited in

(4)

• Robust coordination control of a pneumatic deburring tool
• Optimal control for series elastic actuator using RISE feedback
• The spring paradigm in tracking control of simple mechanical systems
• Ultra-local model-based prescribed-time hybrid force/position control for 3-DOF series elastic actuator-based manipulator under input and output constraints

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