Exponentially convergence for the regressor-free adaptive fuzzy impedance control of robots by gradient descent algorithm

DOI10.1080/00207721.2020.1780513MaRDI QIDQ5026780zbMATH OpenOpenAlexFDO

Authors Gholamreza Nazmara, Mohammad Mehdi Fateh, Seyed Mohammad Ahmadi

Publication date 8 February 2022

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207721.2020.1780513

zbMATH Keywords

exponential convergencefuzzy estimatorgradient descent algorithmimpedance controlrobot manipulators

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Fuzzy control/observation systems (93C42) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking
• Adaptive Jacobian Tracking Control of Robots With Uncertainties in Kinematic, Dynamic and Actuator Models
• An adaptive arm's mechanical impedance estimator for rehabilitation robots without force and acceleration sensors
• An exponentially stable adaptive control for force and position tracking of robot manipulators
• scientific article; zbMATH DE number 1093825 (Why is no real title available?)
• Hybrid force/position control for manipulators with motor dynamics using a sliding-adaptive approach
• Impedance control of robots using voltage control strategy
• Impedance Control: An Approach to Manipulation: Part II—Implementation
• Iterative learning impedance control for rehabilitation robots driven by series elastic actuators
• Model reference adaptive impedance control for physical human-robot interaction
• Position and force control of robotic devices interacting with passive environments through compliance modulation
• Repetitive control of electrically driven robot manipulators
• Robust control of dynamically interacting systems

Cited in

(4)

• Model-free discrete control for robot manipulators using a fuzzy estimator
• Adaptive finite-time impedance backstepping control for uncertain robotic systems interacting with unknown environments
• Adaptive finite-time optimised impedance control for robotic manipulators with state constraints
• A variable impedance control architecture for transparency improvement in nonlinear bilateral telerobotic systems

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