Model-free robot joint position regulation and tracking with prescribed performance guarantees

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

“…According to the position, velocity and torque tracking errors , and as well as the defined variables in (6) and (7), we can define the total errors for the tracking of the transmission signals:…”

“…Bechlioulis et al proposes a new neuroadaptive force/position control algorithm [5]. The performance of error evolution within prescribed bounds in both problems of regulation and tracking in robotic system is achieved in [6]. Kostarigka et al analyse the pre-set performance control problem for a flexible joint robot with unknown and possibly variable elasticity [7].…”

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

“…The transformed error feedback (the third term) in the control (41) is equipped with the tunable gain K ε , which is different from the design in [4] where this feedback is fixed. As this feedback has a direct effect on the guarantee of the transient performance [12], incorporating this adjustable gain is beneficial. Furthermore, in the Lyapunov function (44) this group of parameters also act as penalty parameters, which can be utilized to trade off between the achievable transient performance and available control input.…”

“…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. However, zero overshoot index is excluded from consideration after these modifications.…”

Rolling Contact Motion Generation and Control of Robotic Fingers

“…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.…”