Impedance control for a Stewart-structure-based wheel-legged robotic system in wheel motion

DOI10.1002/RNC.7267MaRDI QIDQ6498568FDOQ6498568

Authors: Dongchen Liu, Junzheng Wang, Dawei Shi 

Publication date: 7 May 2024

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

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zbMATH Keywords

active disturbance rejection controlnonlinear disturbanceStewart-structure-based wheel-leg impedance controlworkspace limit

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Observers (93B53)

Cites Work

• Stabilization of a class of nonlinear systems with actuator saturation via active disturbance rejection control
• Anti-windup design for uncertain nonlinear systems subject to actuator saturation and external disturbance
• On active disturbance rejection control for nonlinear systems with multiple uncertainties and nonlinear measurement
• Distributed filtering for uncertain systems under switching sensor networks and quantized communications
• High‐gain nonlinear observer‐based impedance control for deformable object cooperative teleoperation with nonlinear contact model
• Neural networks‐based sliding mode tracking control for the four wheel‐legged robot under uncertain interaction

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