Real-time robust adaptive control of robots subjected to actuator voltage constraint

DOI10.1007/S11071-014-1574-ZMaRDI QIDQ748085zbMATH OpenOpenAlexFDO

Authors Alireza Izadbakhsh, Mohammad Mehdi Fateh

Publication date 19 October 2015

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11071-014-1574-z

zbMATH Keywords

actuator saturationrobust adaptive controlreal-time controlmodel-free control

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Simulation of dynamical systems (37M05) Dynamical systems in control (37N35) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Robust stability (93D09)

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Cites work

• scientific article; zbMATH DE number 5562427 (Why is no real title available?)
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• scientific article; zbMATH DE number 3997612 (Why is no real title available?)
• scientific article; zbMATH DE number 1443102 (Why is no real title available?)
• Adaptive Jacobian vision based control for robots with uncertain depth information
• Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics
• Adaptive Zero Phase Error Tracking Algorithm for Digital Control
• Adaptive control in the presence of saturation non-linearity
• Adaptive control of robot manipulators using fuzzy logic systems under actuator constraints
• Adaptive control of robot manipulators. A unified regressor-free approach.
• On global output feedback regulation of Euler-Lagrange systems with bounded inputs
• Robust Lyapunov-based control of flexible-joint robots using voltage control strategy
• Robust control of flexible-joint robots using voltage control strategy
• Zeros of sampled systems

Cited in

(11)

• Robust adaptive control of robot manipulators using Bernstein polynomials as universal approximator
• Adaptive PID-tracking control of muscle-like actuated compliant robotic systems with input constraints
• Robust impedance control of robot manipulators using differential equations as universal approximator
• Adaptive visual servoing for the robot manipulator with extreme learning machine and reinforcement learning
• FAT-based robust adaptive control of electrically driven robots without velocity measurements
• Robust adaptive input-output control for a class of modular robotic systems via inverse optimality theory
• Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification
• A note on the ``nonlinear control of electrical flexible-joint robots
• Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty
• A family of hyperbolic-type control schemes for robot manipulators
• Robust Lyapunov-based control of flexible-joint robots using voltage control strategy

Describes a project that uses

Uses Software

• Simulink
• Matlab

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