Adaptive Jacobian Tracking Control of Robots With Uncertainties in Kinematic, Dynamic and Actuator Models

DOI10.1109/TAC.2006.876943zbMATH Open1366.93399OpenAlexW2167055252MaRDI QIDQ5281867FDOQ5281867

Authors: C. C. Cheah, Chao Liu, Jean-Jacques Slotine 

Publication date: 27 July 2017

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

Full work available at URL: https://doi.org/10.1109/tac.2006.876943

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

Cited In (58)

• Adaptive tracking control of robot manipulators with input saturation and time-varying output constraints
• Tracking control of robot manipulators actuated by brushless DC motors: elimination of joint velocity measurements with a robust observer
• Adaptive finite-time impedance backstepping control for uncertain robotic systems interacting with unknown environments
• Neural network‐based adaptive region tracking control for robot manipulator systems with uncertain kinematics and dynamics
• Trajectory planning and tracking control for 6‐DOF Stanford manipulator based on adaptive sliding mode multi‐stage switching control
• Task space control of the robot manipulators with adaptive fuzzy global fast terminal sliding mode control in presence of dynamic and kinematic uncertainties
• Tracking synchronization of networked Lagrangian systems via impulsive control and its applications
• Task space consensus in networks of heterogeneous and uncertain robotic systems with variable time-delays
• Robust adaptive visual tracking control for uncertain robotic systems with unknown dead-zone inputs
• Adaptive Jacobian vision based control for robots with uncertain depth information
• Cross-coupled contouring control of multi-DOF robotic manipulator
• Model Predictive Control for Constrained Image‐Based Visual Servoing in Uncalibrated Environments
• Distributed adaptive leader-following tracking control of networked Lagrangian systems with unknown control directions under undirected/directed graphs
• Adaptive neural control for an uncertain robotic manipulator with joint space constraints
• Adaptive neural tracking control of robotic manipulators with guaranteed NN weight convergence
• Enhancing precision performance of trajectory tracking controller for robot manipulators using RBFNN and adaptive bound
• Adaptive learning tracking control of robotic manipulators with uncertainties
• Amplifier gain tuning-based Slotine-Li adaptive manipulator control
• Task-space control of robots using an adaptive Taylor series uncertainty estimator
• Position/force tracking impedance control for robotic systems with uncertainties based on adaptive Jacobian and neural network
• Adaptive coordinated control of uncertain free-floating space manipulators with prescribed control performance
• Passivity based hierarchical multi-task tracking control for redundant manipulators with uncertainties
• Passivity based adaptive Jacobian tracking for free-floating space manipulators without using spacecraft acceleration
• On multiple secondary task execution of redundant nonholonomic mobile manipulators
• \(\mathcal{L}_2\) performance control of robot manipulators with kinematics, dynamics and actuator uncertainties
• Prediction Error Based Adaptive Jacobian Tracking of Robots With Uncertain Kinematics and Dynamics
• Adaptive control of a 7-DOF exoskeleton robot with uncertainties on kinematics and dynamics
• Adaptive backstepping trajectory tracking control of robot manipulator
• Adaptive task‐space cooperative tracking control for manipulators with a desired trajectory estimator and a velocity observer
• Exponentially convergence for the regressor-free adaptive fuzzy impedance control of robots by gradient descent algorithm
• Coordination motion of Lagrangian systems with multiple oscillatory leaders under diverse interaction topologies
• Connectivity-preserving-based distributed adaptive asymptotically synchronised tracking of networked uncertain nonholonomic mobile robots with actuator failures and unknown control directions
• Weighted containment control for Lagrangian systems with heterogeneous interactions of cooperation and competition
• Bipartite consensus tracking problem of networked Lagrangian system with intermittent interactions
• A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration
• Tracking task-space synchronization of networked Lagrangian systems with switching topology
• End-effector trajectory tracking control of space robot with \(\mathcal{L}_2\) gain performance
• Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics
• An intelligent robust tracking control for a class of electrically driven mobile robots
• Robust control of robotic manipulators in the task-space using an adaptive observer based on Chebyshev polynomials
• Neural network-based nonlinear tracking control of kinematically redundant robot manipulators
• Adaptive visual servoing scheme free of image velocity measurement for uncertain robot manipulators
• Modelling and adaptive tracking control for flexible joint robots with random noises
• Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model
• Data-driven learning for robot control with unknown Jacobian
• Adaptive visual tracking for robotic systems without image-space velocity measurement
• Coordinated motion of Lagrangian systems with auxiliary oscillators under cooperative and cooperative-competitive interactions
• Uncalibrated image-based visual servoing of rigid-link electrically driven robotic manipulators
• Adaptive synchronised tracking control for multiple robotic manipulators with uncertain kinematics and dynamics
• Adaptive task-space regulation of rigid-link flexible-joint robots with uncertain kinematics
• Visual servoing tracking control of uncalibrated manipulators with a moving feature point
• Differential games, partial-state stabilization, and model reference adaptive control
• Designing distributed consensus protocols for second-order nonlinear multi-agents with unknown control directions under directed graphs
• Inverse Jacobian adaptive tracking control of robot manipulators with kinematic, dynamic, and actuator uncertainties
• Adaptive control of teleoperation system based on nonlinear disturbance observer
• Impulsive practical tracking synchronization of networked uncertain Lagrangian systems without and with time-delays
• Adaptive finite-time tracking control of robot manipulators with multiple uncertainties based on a low-cost neural approximator
• Task-space tracking control of multi-robot systems with disturbances and uncertainties rejection capability

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