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

DOI10.1080/00207721.2022.2043482MaRDI QIDQ5097797zbMATH OpenOpenAlexFDO

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

zbMATH Keywords

computed-torquedifferential algebraic equationobserver-based controller designparallel robotstrajectory tracking

Mathematics Subject Classification ID

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

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Cites work

• An exact handling of the gradient for overcoming persistent problems in nonlinear observer design via convex optimization techniques
• Analysis and design of descriptor linear systems
• Consistent Initial Condition Calculation for Differential-Algebraic Systems
• Control of underactuated robot manipulators using switching computed torque method: GA based approach
• Convex Stability Analysis of Nonlinear Singular Systems via Linear Matrix Inequalities
• DAESA -- a Matlab tool for structural analysis of differential-algebraic equations: theory
• scientific article; zbMATH DE number 1679742 (Why is no real title available?)
• scientific article; zbMATH DE number 194581 (Why is no real title available?)
• Linear Matrix Inequalities in System and Control Theory
• Minimum-time control of robotic manipulators with geometric path constraints
• Nonlinear control systems: An introduction
• Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation
• Parallel robots.
• Robust Joint and Cartesian Control of Underactuated Manipulators
• The Consistent Initialization of Differential-Algebraic Systems
• Theoretical and numerical analysis of differential-algebraic equations

Cited in

(5)

• 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
• LMI-based nonlinear observer design for a class of nonlinear systems modeled with differential algebraic equations.
• A unified LMI-based observer design framework for nonlinear differential algebraic equations

Describes a project that uses

Uses Software

• LMI toolbox
• Daesa

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