Task-space adaptive control of robotic manipulators with uncertainties in gravity regressor matrix and kinematics

DOI10.1109/TAC.2002.802735zbMATH Open1364.93527MaRDI QIDQ5267098FDOQ5267098

C. C. Cheah, H. Yazarel

Publication date: 20 June 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Mathematics Subject Classification ID

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

Cited In (12)

• A simple PID control for asymptotic visual regulation of robot manipulators
• ℒ2 performance control of robot manipulators with kinematics, dynamics and actuator uncertainties
• PID control for global finite-time regulation of robotic manipulators
• Adaptive neural tracking control of robotic manipulators with guaranteed NN weight convergence
• Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters
• Passivity based adaptive Jacobian tracking for free-floating space manipulators without using spacecraft acceleration
• Neural-network-based two-loop control of robotic manipulators including actuator dynamics in task space
• Adaptive control of a 7-DOF exoskeleton robot with uncertainties on kinematics and dynamics
• Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics
• ANFIS-based an adaptive continuous sliding-mode controller for robot manipulators in operational space
• Differential games, partial-state stabilization, and model reference adaptive control
• Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator

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