Adaptive PID-tracking control of muscle-like actuated compliant robotic systems with input constraints

DOI10.1016/J.APM.2018.10.012MaRDI QIDQ2307192zbMATH OpenOpenAlexWikidataFDO

Authors Carsten Behn, Konrad Siedler

Publication date 27 March 2020

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

Full work available at URL https://doi.org/10.1016/j.apm.2018.10.012

zbMATH Keywords

adaptive controlcompliant robotmuscle-like actuatorsaturationtracking

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Forced motions for nonlinear problems in mechanics (70K40) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40)

Recommendations

• Adaptive control for a one-link robot arm actuated by pneumatic muscles
• scientific article; zbMATH DE number 1187496
• Adaptive motion/force tracking control of holonomic constrained mechanical systems: a unified viewpoint
• Adaptive neural network control of serial variable stiffness actuators
• Real-time robust adaptive control of robots subjected to actuator voltage constraint

Cites work

• Adaptive control
• An experiment with swinging up a double pendulum using feedback control
• scientific article; zbMATH DE number 194426 (Why is no real title available?)
• Non-identifier-based high-gain adaptive control
• Swing-up control of a triple pendulum on a cart with experimental validation

Cited in

(4)

• Accurate and robust body position trajectory tracking of six-legged walking robots with nonsingular terminal sliding mode control method
• Adaptive control for a one-link robot arm actuated by pneumatic muscles
• Fuzzy adaptive asymptotic tracking of uncertain nonlinear systems with full states constraints
• Nussbaum gain adaptive neural asymptotic tracking of nonlinear systems with full-state constraints

This page was built for publication: Adaptive PID-tracking control of muscle-like actuated compliant robotic systems with input constraints

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2307192)