Robust adaptive control Lyapunov‐barrier function for non‐collocated control and safety of underactuated robotic systems

DOI10.1002/rnc.6239zbMath1528.93033MaRDI QIDQ6069276

Unnamed Author, Seth Hutchinson

Publication date: 16 December 2023

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

zbMATH Keywords

robust adaptive controlquadratic programunderactuated robotic systemscontrol Lyapunov-control barrier functionexponential disturbance-to-error stability

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Lyapunov and storage functions (93D30) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Related Items (1)

Integral passivity‐based control of underactuated mechanical systems with state‐dependent matched disturbances

Cites Work

• Unnamed Item
• Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form
• Adaptive systems with reduced models
• Parameter to state stability of control Lyapunov functions for hybrid system models of robots
• Robust Global Trajectory Tracking for Underactuated VTOL Aerial Vehicles Using Inner-Outer Loop Control Paradigms
• Adaptive sliding controller synthesis for non-linear systems
• Adaptive Control Design and Analysis
• Continuous Sliding Mode Control Strategy for a Class of Nonlinear Underactuated Systems
• Control Barrier Function Based Quadratic Programs for Safety Critical Systems
• Decentralized Event-Based Controllers for Robust Stabilization of Hybrid Periodic Orbits: Application to Underactuated 3-D Bipedal Walking
• Notice of Removal: A Disturbance Observer Based Sliding Mode Control for a Class of Underactuated Robotic System With Mismatched Uncertainties
• A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes
• Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance
• Underactuated ship global tracking under relaxed conditions
• Comments on "Control of a Planar Underactuated Biped on a Complete Walking Cycle"
• Second‐order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum
• Robust nonlinear control design. State-space and Lyapunov techniques
• Tracking control for lower limb rehabilitation robots based on polynomial nonlinear uncertain models

This page was built for publication: Robust adaptive control Lyapunov‐barrier function for non‐collocated control and safety of underactuated robotic systems