A state-space robust feedforward controller for industrial robotic manipulators needless to computed torque control

Keywords

Control theory (sociology), Feed forward, Robustness (evolution), Control engineering, Torque

References

• The internal model principle of control theoryBruce A. Francis, W.M. Wonham — 1976
• Synthesis of feedback systemsI. Horowitz — 1963
• Robot dynamics and controlMark W. Spong — 1989
• Self tuning of computed torque gains by using neural networks with flexible structuresMohammad Teshnehlab, Keigo Watanabe — 1994
• Stable inversion of nonlinear non-minimum phase systemsDegang Chen, Brad Paden — 1996
• Designing and tuning robust feedforward controllersEduardo J. Adam, Jacinto L. Marchetti — 2004
• Variable structure position control of an industrial robotic manipulatorMarcos Fonseca Mendes, Werner Kraus, Edson Roberto De Pieri — 2002
• An anatomy of industrial robots and their controlsJ. Luh — 1983
• Optimal noncausal set-point regulation of scalar systemsAurelio Piazzi, Antonio Visioli — 2001
• Performance limitations of non-minimum phase systems in the servomechanism problem,Li Qiu, E.J. Davison — 1993
• Slider-crank mechanism control using adaptive computed torque techniqueFaa‐Jeng Lin, Y.-S. Lin, S.-L. Chiu — 1998
• Multivariable feedback design: Concepts for a classical/modern synthesisJohn C. Doyle, G. Stein — 1981
• Optimal inversion-based control for the set-point regulation of nonminimum-phase uncertain scalar systemsAurelio Piazzi, Antonio Visioli — 2001
• Precise slow motion control of a direct-drive robot arm with velocity estimation and friction compensationG Liu, A.A. Goldenberg, Yangjing Zhang — 2004
• A servo control system design using dynamic inversionCorrado Guarino Lo Bianco, Aurelio Piazzi — 2002
• A sliding mode controller with bound estimation for robot manipulatorsCheng Su, T.P. Leung — 1993
• Adaptive robust control of robot manipulators-theory and experimentJun‐ichi Imura, Toshiharu Sugie, T. Yoshikawa — 1994
• A neural network compensator for uncertainties of robotic manipulatorsS. Okuma, Akio Ishiguro, Takeshi Furuhashi — 1990
• Robust control system design for SCARA robots using adaptive pole placementS. Takagi, Naoki Uchiyama — 2005
• Nonlinear inversion-based output trackingSantosh Devasia, Degang Chen, B. Paden — 1996

Cited by

No citing papers recorded for this paper.

Related papers

• Adaptive Robust Tracking Control for Robotic ManipulatorsWang San-xi — 2015
• Study on Robust Control of Robotic Manipulators Based on First-Order Error Tracking LawLi Qiu — 2015
• Disturbance-Observer Based Tracking Control of Industrial SCARA Robot ManipulatorsAmine Dehak, Anh‐Tu Nguyen, Antoine Dequidt — 2019
• Robust, High-Performance Control For Robotic ManipulatorsH. Seraji — 1990
• Robust tracking control for robotic manipulator via fuzzy logic system and H ∞ approachesKun Mu, Cong Liu, Jinzhu Peng — 2015
• Independent joint control using two-degrees-of-freedom control structuresFernando Tadeo, Pastora Vega, A.M. Holohan — 1998
• Adaptive Fuzzy Self-learning Controller for Robotic ManipulatorsChitralekha Mahanta, Priyanka Bhagat — 2006
• Decentralized adaptive control of manipulators: theory, simulation, and experimentationH. Seraji — 1989
• Adaptive generalized model-based control of robot manipulatorsS.R. Pandian, M. Hanmandlu — 1993