On stability and regulation performance for flexible-joint robots with input/output communication delays

DOI10.1016/J.AUTOMATICA.2014.04.022MaRDI QIDQ458877zbMATH OpenOpenAlexFDO

Authors Yen-Chen Liu, Nikhil Chopra

Publication date 8 October 2014

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2014.04.022

zbMATH Keywords

joint flexibilitynetworked robotic systempassivity-based controltime delay

Mathematics Subject Classification ID

Large-scale systems (93A15) Automated systems (robots, etc.) in control theory (93C85) Stability of control systems (93D99)

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Cites work

• A tracking controller for flexible joint robots using only link position feedback
• Adaptive control of robot manipulators with flexible joints
• Bilateral teleoperation: An historical survey
• scientific article; zbMATH DE number 3513598 (Why is no real title available?)
• Input-output robust tracking control design for flexible joint robots
• Introduction to functional differential equations
• Modeling and Control of Elastic Joint Robots
• Nonlinear systems.
• On the force control problem for flexible joint manipulators
• PD control with on-line gravity compensation for robots with elastic joints: theory and experiments
• Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics
• Time-delay systems: an overview of some recent advances and open problems.

Cited in

(5)

• Universal strategies to explicit adaptive control of nonlinear time-delay systems with different structures
• Distributed synchronization for heterogeneous robots with uncertain kinematics and dynamics under switching topologies
• Wave-variable framework for networked robotic systems with time delays and packet losses
• Dynamic event-triggered adaptive fuzzy command filtered asymptotic containment control for flexible robotic manipulator multiagent systems
• Adaptive compensation control for nonlinear stochastic multi-agent systems: an event-triggered mechanism

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