Adaptive finite-time optimised impedance control for robotic manipulators with state constraints

DOI10.1080/00207721.2023.2213230MaRDI QIDQ6115802zbMATH OpenOpenAlexFDO

Authors

Publication date 13 July 2023

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207721.2023.2213230

zbMATH Keywords

adaptive controlbarrier Lyapunov functionfinite-time convergenceimpedance controloptimised backstepping

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Finite-time stability (93D40)

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Cites work

• A class of finite-time dual neural networks for solving quadratic programming problems and its \(k\)-winners-take-all application
• Adaptive finite‐time super‐twisting sliding mode control for robotic manipulators with control backlash
• Adaptive neural impedance control for electrically driven robotic systems based on a neuro-adaptive observer
• Adaptive optimal tracking control for multi‐joint manipulator on space robot
• Continuous finite-time control for robotic manipulators with terminal sliding mode
• Exponentially convergence for the regressor-free adaptive fuzzy impedance control of robots by gradient descent algorithm
• Fast finite-time dynamic surface tracking control of a single-joint manipulator system with prescribed performance
• Finite-time adaptive neural control for uncertain nonlinear time-delay systems with actuator delay and full-state constraints
• Global finite-time stabilization of a class of uncertain nonlinear systems
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Observer-based adaptive fuzzy finite-time tracking control of switched nonlinear systems
• Optimal trajectory control for a two-link rigid-flexible manipulator with ODE-PDE model
• Recurrent fuzzy wavelet neural network variable impedance control of robotic manipulators with fuzzy gain dynamic surface in an unknown varied environment

Cited in

(5)

• Learning variable impedance control based on reinforcement learning
• Adaptive finite-time impedance backstepping control for uncertain robotic systems interacting with unknown environments
• Adaptive finite-time synchronisation of variable-order fractional chaotic systems for secure communication
• Event-triggered adaptive bounded control of high-order uncertain switched nonlinear systems with full-state time-varying constraints
• A variable impedance control architecture for transparency improvement in nonlinear bilateral telerobotic systems

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