Robust adaptive input-output control for a class of modular robotic systems via inverse optimality theory

DOI10.1080/00207179.2021.1885741MaRDI QIDQ5095524zbMATH OpenOpenAlexFDO

Authors Jiamin Wang, Yujiong Liu, Pinhas Ben-Tzvi

Publication date 9 August 2022

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

Full work available at URL https://doi.org/10.1080/00207179.2021.1885741

zbMATH Keywords

adaptive controlinverse optimalitymodel-based controlmodular robotic systemrobust control

Mathematics Subject Classification ID

Inverse problems in optimal control (49N45) Sensitivity (robustness) (93B35) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A normal form augmentation approach to adaptive control of space robot systems
• Adaptive motion control of rigid robots: A tutorial
• An introductory survey of fuzzy control
• Hamiltonian adaptive control of spacecraft
• Inverse optimal adaptive control for attitude tracking of spacecraft
• Inverse optimal design of input-to-state stabilizing nonlinear controllers
• Nonlinear H_ control, Hamiltonian systems and Hamiltonian-Jacobi equations
• On adaptive inverse dynamics control of rigid robots
• On Deriving the Inverse of a Sum of Matrices
• On the uniform boundedness of the inertia matrix of serial robot manipulators
• Optimal control
• Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics
• Robust nonlinear control design. State-space and Lyapunov techniques
• Stabilization of nonlinear uncertain systems

Cited in

(5)

• Adaptive inverse optimal control for rehabilitation robot systems using actor-critic algorithm
• Adaptive control of modular robots with arbitrarily specified design
• Cross-backstepping control with prescribed performance for input-coupled underactuated systems under arbitrary initial conditions
• Alternating-direction-method-of-multipliers-based fast model predictive control for an aerial trees-pruning robot
• Active space control of underactuated robots: from adaptation to robustness to optimality

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