Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form
Automatica (Journal of IFAC)
Control Theory of Nonlinear Mechanical Systems
Control Theory of Nonlinear Mechanical Systems
Neural Network Control of Robot Manipulators and Nonlinear Systems
Neural Network Control of Robot Manipulators and Nonlinear Systems
Feedback Systems: Input-Output Properties
Feedback Systems: Input-Output Properties
Robotics: Modelling, Planning and Control
Robotics: Modelling, Planning and Control
MED '09 Proceedings of the 2009 17th Mediterranean Conference on Control and Automation
Contributions to non-identifier based adaptive control in mechatronics
Robotics and Autonomous Systems
Robot force/position tracking with guaranteed prescribed performance
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Adaptive robust control of MIMO nonlinear systems in semi-strict feedback forms
Automatica (Journal of IFAC)
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The problem of robot joint position control with prescribed performance guarantees is considered; the control objective is the error evolution within prescribed performance bounds in both problems of regulation and tracking. The proposed controllers do not utilize either the robot dynamic model or any approximation structures and are composed by simple PID or PD controllers enhanced by a proportional term of a transformed error through a transformation related gain. Under a sufficient condition for the damping gain, the proposed controllers are able to guarantee (i) predefined minimum speed of convergence, maximum steady state error and overshoot concerning the position error and (ii) uniformly ultimate boundedness (UUB) of the velocity error. The use of the integral term reduces residual errors allowing the proof of asymptotic convergence of both velocity and position errors to zero for the regulation problem under constant disturbances. Performance is a priori guaranteed irrespective of the selection of the control gain values. Simulation results of a three dof spatial robotic manipulator and experimental results of one dof manipulator are given to confirm the theoretical findings.