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

DOI10.1109/TAC.2002.802735MaRDI QIDQ5267098zbMATH OpenFDO

Authors H. Yazarel, C. C. Cheah

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)

• Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics
• Adaptive control of a 7-DOF exoskeleton robot with uncertainties on kinematics and dynamics
• Nonlinear adaptive task space control for a 2-DOF redundantly actuated parallel manipulator
• ANFIS-based an adaptive continuous sliding-mode controller for robot manipulators in operational space
• \(\mathcal{L}_2\) performance control of robot manipulators with kinematics, dynamics and actuator uncertainties
• Neural-network-based two-loop control of robotic manipulators including actuator dynamics in task space
• 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
• Adaptive neural tracking control of robotic manipulators with guaranteed NN weight convergence
• Differential games, partial-state stabilization, and model reference adaptive control
• A simple PID control for asymptotic visual regulation of robot manipulators
• PID control for global finite-time regulation of robotic manipulators

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