Differential algebraic observer-based trajectory tracking for parallel robots via linear matrix inequalities

DOI10.1080/00207721.2022.2043482zbMATH Open1498.93467OpenAlexW4220815879MaRDI QIDQ5097797FDOQ5097797

Authors:

Publication date: 1 September 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/10.1080/00207721.2022.2043482

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zbMATH Keywords

trajectory trackingdifferential algebraic equationparallel robotsobserver-based controller designcomputed-torque

Mathematics Subject Classification ID

Implicit ordinary differential equations, differential-algebraic equations (34A09) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Observers (93B53)

Cites Work

• DAESA -- a Matlab tool for structural analysis of differential-algebraic equations: theory
• Linear Matrix Inequalities in System and Control Theory
• Nonlinear control systems: An introduction
• Analysis and design of descriptor linear systems
• Title not available (Why is that?)
• The Consistent Initialization of Differential-Algebraic Systems
• Consistent Initial Condition Calculation for Differential-Algebraic Systems
• Theoretical and numerical analysis of differential-algebraic equations
• Title not available (Why is that?)
• Parallel robots.
• Minimum-time control of robotic manipulators with geometric path constraints
• Control of underactuated robot manipulators using switching computed torque method: GA based approach
• Robust Joint and Cartesian Control of Underactuated Manipulators
• An exact handling of the gradient for overcoming persistent problems in nonlinear observer design via convex optimization techniques
• Convex Stability Analysis of Nonlinear Singular Systems via Linear Matrix Inequalities
• Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation

Cited In (3)

• Track estimation: high-gain observer vs. algebraic derivative methods
• Results on the robust observer-based position controller for parallel kinematic machines
• Numerical and experimental investigation on the synthesis of extended Kalman filters for cable-driven parallel robots modeled through DAEs

Uses Software

• LMI toolbox
• Daesa

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