Robust control for rigid serial manipulators: a general setting

Chen, Y.H.; Leitmann, G.; Chen, J.S.

doi:10.1109/acc.1998.703540

Cited by 37 publications

(15 citation statements)

References 2 publications

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“…In the past, it was often believed that this was always true, and therefore a fact rather than an assumption. However, there are counter examples, as listed in [15], when q is not selected to be the generalized coordinate. Remark.…”

Section: Constraint Force When Uncertainty Is Knownmentioning

confidence: 95%

Adaptive robust approximate constraint-following control for mechanical systems

Chen

Zhang

2010

Journal of the Franklin Institute

139

120

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Section: Constraint Force When Uncertainty Is Knownmentioning

confidence: 95%

Adaptive robust approximate constraint-following control for mechanical systems

Chen

Zhang

2010

Journal of the Franklin Institute

139

120

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“…It is feasible for manipulators which have both revolute joint and prismatic joint. Property 1 of inertia matrix has been sufficiently explored in [21].…”

Section: Fuzzy Dynamical System Descriptionmentioning

confidence: 99%

Optimal fuzzy adaptive control for uncertain flexible joint manipulator based on D ‐operation

Dong

Zhao

Han

et al. 2018

IET Control Theory & Applications

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“…In the past, it was often believed to be a fact rather than an assumption. However, when q is not selected to be the generalized coordinate, there are counter examples, as listed in .…”

Section: Constraint Force When Uncertainty Is Knownmentioning

confidence: 99%

A New High‐Order Adaptive Robust Control for Constraint Following of Mechanical Systems

Yang

Zhao

Sun

et al. 2017

Asian Journal of Control

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A mechanical system is to follow a class of prescribed holonomic or nonholonomic constraints. The system contains time‐varying bounded uncertainty. However, the bound is unknown. The objective is to design a control which renders constraint following. A new high‐order adaptive robust control is proposed. The control guarantees uniform boundedness and uniform ultimate boundedness even in the presence of the uncertainty. Significant advantages of this new control are demonstrated both analytically and numerically. It is shown that the system performance, including the finite entering time, constraint‐following error, and control magnitude, can be improved by tuning the control order.

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Robust control for rigid serial manipulators: a general setting

Cited by 37 publications

References 2 publications

Adaptive robust approximate constraint-following control for mechanical systems

Adaptive robust approximate constraint-following control for mechanical systems

Optimal fuzzy adaptive control for uncertain flexible joint manipulator based on D ‐operation

A New High‐Order Adaptive Robust Control for Constraint Following of Mechanical Systems

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