Adaptive motion control of rigid robots: A tutorial
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DOI10.1016/0005-1098(89)90054-XzbMATH Open0695.93064MaRDI QIDQ910372FDOQ910372
Publication date: 1989
Published in: Automatica (Search for Journal in Brave)
Recommendations
Kinematics of mechanisms and robots (70B15) Adaptive control/observation systems (93C40) Application models in control theory (93C95)
Cites Work
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- Adaptive computed torque control for rigid link manipulations
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- Modeling and Control of Elastic Joint Robots
- Robustness of continuous-time adaptive control algorithms in the presence of unmodeled dynamics
- A robust direct adaptive controller
- Stable adaptive controller design, part II: Proof of stability
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- Applications of the passive systems approach to the stability analysis of adaptive controllers for robot manipulators
- Adaptive model following control of nonlinear robotic systems
- Robustness analysis of a pd controller with approximate gravity compensation for robot manipulator control
Cited In (only showing first 100 items - show all)
- Survey on Passivity Based Control of Induction Machine
- Robot control and parameter estimation with only joint position measurements
- Continuous finite-time regulation of Euler-Lagrange systems via energy shaping
- Reduced order observers for the sliding mode control of mechanical systems with elastic joints
- On nonlinear control of Euler-Lagrange systems: Disturbance attenuation properties
- An exponentially convergent adaptive sliding mode control of robot manipulators
- Differential evolution based adaptation for the direct current motor velocity control parameters
- A passivity-based approach to force regulation and motion control of robot manipulators
- Force/position regulation for robot manipulators with unmeasurable velocities and uncertain gravity
- Velocity observer-based iterative learning control for robot manipulators
- A unique robust controller for tracking and stabilisation of non-holonomic vehicles
- On the matching equations of kinetic energy shaping in IDA-PBC
- Decentralized adaptive control of manipulators
- Passivity-based boundary control for stochastic delay reaction–diffusion systems
- Design and experimental validation of a second-order sliding-mode motion controller for robot manipulators
- High performance algorithm to obtain Johansson adaptive control in robot manipulators.
- Parameter to state stability of control Lyapunov functions for hybrid system models of robots
- A new RISE-based adaptive control of PKMs: design, stability analysis and experiments
- Bounded inputs total energy shaping for a class of underactuated mechanical systems
- Experimental comparison of parameter estimation methods in adaptive robot control
- An approach to adaptive neural control of robot manipulators
- Passivity-based sliding mode control for nonlinear systems
- A novel induction motor control scheme using IDA-PBC
- Adaptive control of flexible link manipulators using a pseudolink dynamic model
- Comparative analysis of passive algorithms in adaptive control
- Adaptive control of humanoid robot movement
- Adaptive hierarchical formation control for uncertain Euler-Lagrange systems using distributed inverse dynamics
- Bilateral control of teleoperator systems with time-varying delay
- Robust adaptive input-output control for a class of modular robotic systems via inverse optimality theory
- Direct adaptive control of robotic systems
- Standard passivity-based control for multi-hydro-turbine governing systems with surge tank
- Lyapunov-based control design for multiple robots handling a common object
- Predictive adaptive control of multiple robots in cooperative motion
- Discussion on: ``Power flow control of a doubly-fed induction machine coupled to a flywheel
- Application of logarithmic-based parameter and upper bounding estimation rules to adaptive-robust control of robot manipulators
- A design approach to adaptive model-following control of robotic manipulators
- On control of voltage-actuated piezoelectric beam: a Krasovskii passivity-based approach
- Adaptive tracking control for underactuated mechanical systems with relative degree two
- Uniform parametric convergence in the adaptive control of mechanical systems
- Adaptive visual tracking for robotic systems without image-space velocity measurement
- Perfomance‐based adaptive tracking control of robot manipulators
- Switched adaptive tracking control of robot manipulators with friction and changing loads
- Robust control of robot arms including motor dynamics
- Adaptive control of flexible manipulators carrying large uncertain payloads
- Passivity Based Attitude Control of Rigid Bodies
- Towards manipulability of interactive Lagrangian systems
- Differential-cascade framework for consensus of networked Lagrangian systems
- Permanent magnet synchronous motors are globally asymptotically stabilizable with PI current control
- Stabilisation of nonlinear chemical processes via dynamic power-shaping passivity-based control
- Robot robust path tracking
- Passivity-based boundary control for stochastic Korteweg-de Vries-Burgers equations
- Title not available (Why is that?)
- Composite adaptive control of uncertain Euler-Lagrange systems with parameter convergence without PE condition
- Passivity-based control of underactuated mechanical systems with Coulomb friction: application to earthquake prevention
- Strict Lyapunov functions for finite-time control of robot manipulators
- Logarithmic based robust approach to parametric uncertainty for control of robot manipulators
- Global output-feedback tracking and load disturbance rejection for electrically-driven robotic manipulators with uncertain dynamics
- Adaptive recurrent Chebyshev neural network control for PM synchronous motor servo‐drive electric scooter with V‐belt continuously variable transmission
- Gap-metric-based robustness analysis of nonlinear systems with full and partial feedback linearisation
- Task-space control of robots using an adaptive Taylor series uncertainty estimator
- An efficient robust adaptive controller for robotic arms in the presence of time-varying parameters
- Resolved Motion Adaptive Control for Mechanical Manipulators
- Designing of robust adaptive passivity-based controller based on reinforcement learning for nonlinear port-Hamiltonian model with disturbance
- Inverse optimal adaptive control for non-linear uncertain systems with exogenous disturbances
- Adaptive control of robot manipulators with closed architecture
- Quasi sliding mode‐based single input fuzzy self‐tuning decoupled fuzzy PI control for robot manipulators with uncertainty
- Adaptive control for an uncertain robotic manipulator with input saturations
- Automatic reinforcement for robust model-free neurocontrol of robots without persistent excitation
- Adaptive control design for uncertain polynomial nonlinear systems with parametric uncertainties
- Disturbance observer based control for passive multi-actuator systems with aggregation and distribution
- A new passive-based active disturbance rejection control for PMSG system with saturation constraints
- Title not available (Why is that?)
- Finite‐time consensus of Euler‐Lagrange agents without velocity measurements via energy shaping
- Passivity-based boundary control for Korteweg-de Vries-Burgers equations
- A New Strategy for Adaptive Motion Control of Robots
- Data-driven passivity-based control of underactuated mechanical systems via interconnection and damping assignment
- Global continuous finite-time tracking of robot manipulators
- Stabilization and disturbance attenuation of nonlinear systems using dissipativity theory
- Asymptotic stabilization of passive systems without damping injection: a sampled integral technique
- Flocking of networked mechanical systems on directed topologies: a new perspective
- Adaptive control and applications
- Stability of nonlinear teleoperators using PD controllers without velocity measurements
- Title not available (Why is that?)
- On output feedback stabilization of Euler-Lagrange systems with nondissipative forces
- Robust adaptive control for robot manipulators
- Power Shaping Control of Nonlinear Systems: A Benchmark Example
- Passivity-based control for bilateral teleoperation: a tutorial
- Cascaded control of feedback interconnected nonlinear systems: Application to robots with AC drives
- On adaptive inverse dynamics control of rigid robots
- The variable-inertia modified computed-torque control of robot manipulators
- Adaptive tracking control for electrically-driven robots without overparametrization
- Passivity-based controllers for the stabilization of DC-to-DC power converters
- A note on bounded-input feedback global stabilization of robot manipulators
- Stabilization of generalized Hamiltonian systems with internally generated energy and applications to power systems
- Global regulation of robots using only position measurements
- Speed gradient method and its applications
- Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
- A control study of a kneeless biped locomotion system
- Adaptive control of flexible joint manipulators
- Adaptive control in robotic systems with \(H^\infty\) tracking performance
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