Nonlinear PI“D”-Type Control of Flexible Joint Robots by Using Motor Position Measurements Is Globally Asymptotically Stable

DOI10.1109/TAC.2022.3194043MaRDI QIDQ6080182zbMATH OpenOpenAlexFDO

Authors Javier Moreno-Valenzuela, Jesús Sandoval

Publication date 2 October 2023

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

Full work available at URL https://doi.org/10.1109/tac.2022.3194043

zbMATH Keywords

flexible joint robotglobal asymptotic stabilityLyapunov functionnonlinear control

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Cited in

(2)

• Enhanced precision in robot arm positioning: a nonlinear damping approach for flexible joint manipulators
• Improved-third-order-extended-state-observer-based sliding-mode control using singular perturbation theory for flexible-joint robot

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