Passivity based hierarchical multi-task tracking control for redundant manipulators with uncertainties

DOI10.1016/J.AUTOMATICA.2023.111159zbMath1520.93006OpenAlexW4382461401MaRDI QIDQ6165336

Yeqing Yuan, Weichao Sun

Publication date: 31 July 2023

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2023.111159

zbMATH Keywords

adaptive controlhierarchical controlredundant manipulatorspassivity based controlkinematic and dynamic uncertainties

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Hierarchical systems (93A13)

Related Items (2)

Disturbance observer-based full-state constrained control for robotic systems with dead zone ⋮ Passivity based hierarchical multi-task tracking control for redundant manipulators with uncertainties

Cites Work

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• Adaptive Jacobian Tracking Control of Robots With Uncertainties in Kinematic, Dynamic and Actuator Models
• Passivity based hierarchical multi-task tracking control for redundant manipulators with uncertainties

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