Impedance with finite-time control scheme for robot-environment interaction
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Publication:6534652
DOI10.1155/2020/2796590zbMATH Open1544.93547MaRDI QIDQ6534652FDOQ6534652
Authors: H. Hu, Xiao-Qi Wang, Lerui Chen 
Publication date: 14 May 2021
Published in: Mathematical Problems in Engineering (Search for Journal in Brave)
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Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)
Cites Work
- Finite-Time Stability of Continuous Autonomous Systems
- Adaptive finite-time control of nonlinear systems with parametric uncertainty
- Continuous finite-time control for robotic manipulators with terminal sliding mode
- Finite-time control for robot manipulators
- Impedance Control: An Approach to Manipulation: Part I—Theory
- Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking
- Global continuous finite-time tracking of robot manipulators
- Position/force tracking impedance control for robotic systems with uncertainties based on adaptive Jacobian and neural network
- Continuous Control for Fully Damped Mechanical Systems With Input Constraints: Finite-Time and Exponential Tracking
- Further advancements on the output-feedback global continuous control for the finite-time and exponential stabilisation of bounded-input mechanical systems: desired conservative-force compensation and experiments
- Continuous finite-time regulation of Euler-Lagrange systems via energy shaping
Cited In (6)
- A force/position controller free of velocity measurement for robot manipulators with bounded torque input
- Robot impedance control with nondiagonal stiffness
- Robust impedance control of robot manipulators using differential equations as universal approximator
- Adaptive finite-time impedance backstepping control for uncertain robotic systems interacting with unknown environments
- Title not available (Why is that?)
- A dynamic-compensation approach to impedance control of robot manipulators
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