Impedance with finite-time control scheme for robot-environment interaction
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Publication:6534652
DOI10.1155/2020/2796590zbMATH Open1544.93547MaRDI QIDQ6534652FDOQ6534652
Xiao-Qi Wang, Lerui Chen, H. Hu
Publication date: 14 May 2021
Published in: Mathematical Problems in Engineering (Search for Journal in Brave)
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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