Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller

Bechlioulis, Charalampos P.; Doulgeri, Zoe; Rovithakis, George A.

doi:10.1016/j.automatica.2011.07.009

Cited by 70 publications

(46 citation statements)

References 13 publications

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“…The solution we propose in this work is the generation of a reference position trajectory for the ideal rolling case and the tracking of this trajectory via a prescribed performance tracking control law. The proposed control law is of low complexity, in contrast to the structurally and computationally complex controller [3] utilized in [6]. The method to generate the proposed trajectory is presented below, followed by the presentation of the tracking controller.…”

Section: Proposed Control Law and Rolling Motion Trajectory Generationmentioning

confidence: 99%

“…The proposed control solution employs the prescribed performance control methodology initially proposed in [4] which guarantees a preselected transient and steady state behavior of the tracking error. Following the prescribed performance approach, novel model-free controllers have been designed for both unconstrained and constrained robot motion [3,8,9]. The current paper is an extension of the conference paper [6] where the basic idea of planning an ideal rolling trajectory is presented.…”

Section: Introductionmentioning

confidence: 98%

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Rolling Contact Motion Generation and Control of Robotic Fingers

Δρούκας

Doulgeri

2015

J Intell Robot Syst

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Dexterity in human hand is connected with the fingertip rolling ability. In this work we consider rolling motion of spherical robotic fingertips as one of the control objectives together with the set point position control and force trajectory tracking. The generation of a rolling motion trajectory is proposed and a control solution is designed which achieves prescribed transient and steady state tracking behavior. The proposed control law is structurally and computationally simple and does not utilize the dynamics of the robot model or its approximation. A simulation of a five degrees of freedom robot show excellent contact rolling performance even at cases of adverse friction conditions while alternative controllers lead to contact sliding. Experiments with a KUKA LWR4+ are performed to validate the proposed method.

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Section: Proposed Control Law and Rolling Motion Trajectory Generationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

Rolling Contact Motion Generation and Control of Robotic Fingers

Δρούκας

Doulgeri

2015

J Intell Robot Syst

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“…However, this guarantee depends on control gains and system parameters. Controllers with capabilities to guarantee prescribed performance are presented for the force/position tracking of manipulators with fixed bases in [8,9,4], which are developed based on the error transformation proposed in [10] for affine nonlinear systems. These error transformation functions are slightly modified in [11,12] from original ones so as to achieve asymptotical convergence of tracking errors.…”

Section: Introductionmentioning

confidence: 99%

“…How to reduce varieties of uncertainties by using sensing devices and designing adaptive or robust controllers under these uncertainties are major concerns in this field [4,5,6].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance

Jiang

Teo

et al. 2015

Robotics and Autonomous Systems

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“…These results are generalized in Ref. 25 to study the tracking control of unknown nonlinear systems. It is worth to mention that most of synchronization methods proposed for integerorder chaotic systems cannot be extended to FOCSs directly.…”

Section: Introductionmentioning

confidence: 99%

Prescribed performance synchronization controller design of fractional-order chaotic systems: An adaptive neural network control approach

Jiao

2017

AIP Advances

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In this study, an adaptive neural network synchronization (NNS) approach, capable of guaranteeing prescribed performance (PP), is designed for non-identical fractional-order chaotic systems (FOCSs). For PP synchronization, we mean that the synchronization error converges to an arbitrary small region of the origin with convergence rate greater than some function given in advance. Neural networks are utilized to estimate unknown nonlinear functions in the closed-loop system. Based on the integer-order Lyapunov stability theorem, a fractional-order adaptive NNS controller is designed, and the PP can be guaranteed. Finally, simulation results are presented to confirm our results.

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Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position controller

Cited by 70 publications

References 13 publications

Rolling Contact Motion Generation and Control of Robotic Fingers

Rolling Contact Motion Generation and Control of Robotic Fingers

Adaptive Jacobian force/position tracking for space free-flying robots with prescribed transient performance

Prescribed performance synchronization controller design of fractional-order chaotic systems: An adaptive neural network control approach

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