Contril of rigid‐link, flexible‐joint robots:a survey of backstepping approaches

DOI10.1002/ROB.4620120305MaRDI QIDQ4698206zbMATH OpenOpenAlexFDO

Authors M. M. Bridges, D. M. Dawson, Chaouki Abdallah

Publication date 14 May 1995

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620120305

zbMATH Keywords

parametric uncertaintyadaptive controllerknowledge-based controllerglobally stable trajectory tracking controllers

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 51130 (Why is no real title available?)
• scientific article; zbMATH DE number 4195846 (Why is no real title available?)
• Adaptive control of robot manipulators with flexible joints
• Adaptive motion control of rigid robots: A tutorial
• An extended direct scheme for robust adaptive nonlinear control
• Composite adaptive control of flexible joint robots
• Design of global tracking controllers for flexible‐joint robots
• Modeling and Control of Elastic Joint Robots
• Robust adaptive controller design and stability analysis for flexible-joint manipulators

Cited in

(13)

• Steering Control for a Rigid Body with two Torque Actuators using Adaptive Back Stepping
• Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints
• Adaptive control of induction motor systems despite rotor resistance uncertainty
• An adaptive controller for a general class of switched reluctance motor models
• Robust dynamic surface control of flexible joint robots using recurrent neural networks
• Backstepping Control for Flexible Joint with Friction Using Wavelet Neural Networks and L₂‐Gain Approach
• Combined adaptive neural network and regressor-based trajectory tracking control of flexible joint robots
• A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: theory and experiments
• scientific article; zbMATH DE number 2247827 (Why is no real title available?)
• Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity
• Global tracking controllers for flexible-joint manipulators: A comparative study
• Preventing bursting in approximate-adaptive control when using local basis functions
• Design of global tracking controllers for flexible‐joint robots

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