A new RISE-based adaptive control of PKMs: design, stability analysis and experiments

DOI10.1080/00207179.2017.1286536MaRDI QIDQ4584783zbMATH OpenOpenAlexFDO

Authors M. Bennehar, Ahmed Chemori, Mohamed Bouri, L. F. Jenni, François Pierrot

Publication date 4 September 2018

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://hal-lirmm.ccsd.cnrs.fr/lirmm-01692463/file/Adaptive%20RISE-based%20Control.pdf

zbMATH Keywords

adaptive controlparallel manipulatorsRISEdelta robot

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Control/observation systems governed by ordinary differential equations (93C15) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21)

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Cites work

• A Continuous Asymptotic Tracking Control Strategy for Uncertain Nonlinear Systems
• Adaptive motion control of rigid robots: A tutorial
• Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator
• Nonlinear systems.
• PD control with gravity compensation for hydraulic 6-DOF parallel manipulator
• Par2: a spatial mechanism for fast planar two-degree-of-freedom pick-and-place applications
• Parallel robots.

Cited in

(3)

• Iterative learning control of multivariable uncertain nonlinear systems with nonrepetitive trajectory
• Experimental study on a novel simultaneous control and identification of a 3-DOF delta robot using model reference adaptive control
• A new time-varying feedback RISE control for second-order nonlinear MIMO systems: theory and experiments

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