A Multistage Position/Force Control for Constrained Robotic Systems With Friction: Joint-Space Decomposition, Linearization, and Multiobjective Observer/Controller Synthesis Using LMI Formalism

Khayati, Karim; Bigras, Pascal; Dessaint, L.-A.

doi:10.1109/tie.2006.881958

Cited by 47 publications

(33 citation statements)

References 49 publications

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“…For any trajectory in Ω1, since e anḋ e are bounded (21) results in boundedë, too. Utilizing (16), (19) and (27) in (35), for any trajectory in Ω1 it can be stated thaṫ…”

Section: Stability Analysismentioning

confidence: 99%

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A robust tracking controller for electrically driven robot manipulators: Stability analysis and experiment

Homayounzade

Keshmiri

Ghobadi

2015

Int. J. Autom. Comput.

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Abstract:In this paper, a robust controller for electrically driven robotic systems is developed. The controller is designed in a backstepping manner. The main features of the controller are: 1) Control strategy is developed at the voltage level and can deal with both mechanical and electrical uncertainties. 2) The proposed control law removes the restriction of previous robust methods on the upper bound of system uncertainties. 3) It also benefits from global asymptotic stability in the Lyapunov sense. It is worth to mention that the proposed controller can be utilized for constrained and nonconstrained robotic systems. The effectiveness of the proposed controller is verified by simulations for a two link robot manipulator and a four-bar linkage. In addition to simulation results, experimental results on a two link serial manipulator are included to demonstrate the performance of the proposed controller in tracking a given trajectory.

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“…For any trajectory in Ω1, since e anḋ e are bounded (21) results in boundedë, too. Utilizing (16), (19) and (27) in (35), for any trajectory in Ω1 it can be stated thaṫ…”

Section: Stability Analysismentioning

confidence: 99%

“…Dynamic motion of constrained robotic systems interacting with rigid environment is described by [27]:…”

Section: Constrained Robot Dynamicsmentioning

confidence: 99%

A robust tracking controller for electrically driven robot manipulators: Stability analysis and experiment

Homayounzade

Keshmiri

Ghobadi

2015

Int. J. Autom. Comput.

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show abstract

“…Necessary and sufficient conditions for passivity of the LuGre model are presented in [41]. Friction identification and compensation algorithms based on the LuGre Model have been successfully implemented to control robotic systems [42] in order to achieve improved performance and they could be incorporated in our framework.…”

Section: G( ) Then By Choosing the Supply Rate S(τ U (T)˙ (T)) = T mentioning

confidence: 99%

Design of Networked Control Systems Using Passivity

Kottenstette

Hall

Koutsoukos

et al. 2013

IEEE Trans. Contr. Syst. Technol.

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“…In the LuGre model, there is a state z(t) which is not physically measurable and can be assumed as a virtual state that needs to be estimated by application of an appropriately designed observer. In [34], an observer is used in a closed-loop feedback system to estimate the z(t), but the parameters of friction are assumed to be known. As an acclaimed research on friction compensation, an adaptive control scheme is proposed in [25] for friction reduction while utilizing the LuGre model and a sliding mode observer.…”

Section: Introductionmentioning

confidence: 99%

Precise angular speed control of permanent magnet DC motors in presence of high modeling uncertainties via sliding mode observer-based model reference adaptive algorithm

2015

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A Multistage Position/Force Control for Constrained Robotic Systems With Friction: Joint-Space Decomposition, Linearization, and Multiobjective Observer/Controller Synthesis Using LMI Formalism

Cited by 47 publications

References 49 publications

A robust tracking controller for electrically driven robot manipulators: Stability analysis and experiment

A robust tracking controller for electrically driven robot manipulators: Stability analysis and experiment

Design of Networked Control Systems Using Passivity

Precise angular speed control of permanent magnet DC motors in presence of high modeling uncertainties via sliding mode observer-based model reference adaptive algorithm

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