Impedance with finite-time control scheme for robot-environment interaction

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)

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Recommendations

• Adaptive finite-time impedance backstepping control for uncertain robotic systems interacting with unknown environments
• Direct adaptive impedance control of robot manipulators
• Impedance adaptation for optimal robot-environment interaction
• Position/force tracking impedance control for robotic systems with uncertainties based on adaptive Jacobian and neural network
• Learning impedance control for physical robot-environment interaction

Cites Work

• Adaptive finite-time control of nonlinear systems with parametric uncertainty
• Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking
• Continuous Control for Fully Damped Mechanical Systems With Input Constraints: Finite-Time and Exponential Tracking
• Continuous finite-time control for robotic manipulators with terminal sliding mode
• Continuous finite-time regulation of Euler-Lagrange systems via energy shaping
• Finite-Time Stability of Continuous Autonomous Systems
• Finite-time control for robot manipulators
• 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
• Global continuous finite-time tracking of robot manipulators
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Position/force tracking impedance control for robotic systems with uncertainties based on adaptive Jacobian and neural network

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 no real title available?)
• A dynamic-compensation approach to impedance control of robot manipulators

This page was built for publication: Impedance with finite-time control scheme for robot-environment interaction

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6534652)