Journal ArticleDOI
Model-free control of electrically driven robot manipulators using an extended state observer
Amir Saleki,Mohammad Mehdi Fateh +1 more
TLDR
Simulation results on an articulated robot driven by permanent magnet DC motors, and experimental implementation show that the proposed model-free controller has a satisfactory performance as compared to an adaptive uncertainty estimation-based controller.About:
This article is published in Computers & Electrical Engineering.The article was published on 2020-10-01. It has received 20 citations till now. The article focuses on the topics: Articulated robot & SCARA.read more
Citations
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Journal ArticleDOI
Design and Evaluation of a New Fuzzy Control Algorithm Applied to a Manipulator Robot
TL;DR: A new scheme for a fuzzy logic controller is proposed, which includes acceleration as one of its linguistic variables, as opposed to other techniques and approaches that have been developed and reported in the literature.
Journal ArticleDOI
Fuzzy Logic for Intelligent Control System Using Soft Computing Applications.
TL;DR: In this article, an agent-based modeling and fuzzy logic for simulating pedestrian crowds in panic decision-making situations and Fuzzy controller for mobile robot, are both presented.
Journal ArticleDOI
Kinematic-Model-Free Redundancy Resolution Using Multi-Point Tracking and Control for Robot Manipulation
TL;DR: The research presented in this paper extends the state-of-the-art kinematic-model-free controller to perform pose control of hyper-redundant robot manipulators and resolve redundancies by tracking and controlling multiple points along the robot’s serial chain.
Journal ArticleDOI
Observer-based robust platoon formation control of electrically driven car-like mobile robots under collision avoidance and connectivity maintenance with a prescribed performance:
Omid Elhaki,Khoshnam Shojaei +1 more
TL;DR: This study intends to address the platoon formation control problem of a team of N electrically driven underactuated autonomous car-like mobile robots by using the platoon controller proposed in this study.
Journal ArticleDOI
A generalized model predictive control method for series elastic actuator driven exoskeleton robots
TL;DR: In this article, a generalized predictive control (GPC) method is introduced in the controller design to optimize the control performance of the compliant actuator system, and the stability of closed-loop system has been rigidly proved.
References
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Book
Robot Modeling and Control
TL;DR: In this paper, the Jacobian is used to describe the relationship between rigid motions and homogeneous transformations, and a linear algebraic approach is proposed for vision-based control of dynamical systems.
Journal ArticleDOI
On the adaptive control of robot manipulators
Jean-Jacques E. Slotine,W. Li +1 more
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Journal ArticleDOI
On the convergence of an extended state observer for nonlinear systems with uncertainty
Bao-Zhu Guo,Zhi-Liang Zhao +1 more
TL;DR: The main idea is to transform the error equation of objective system with its extended state observer into a asymptotical stable system with a small disturbance, for which the effect of total disturbance error is eliminated by the high-gain.
Journal ArticleDOI
Model-free control
Michel Fliess,Cédric Join +1 more
TL;DR: Model-free control and the corresponding ‘intelligent’ PID controllers (iPIDs), which already had many successful concrete applications, are presented here for the first time in an unified manner, where the new advances are taken into account.
Proceedings ArticleDOI
An alternative paradigm for control system design
TL;DR: An alternative framework for control design is presented, which compliments the existing theory and represents a control strategy that is rather independent of mathematical models of the plants, thus achieving inherent robustness and reducing design complexity.
Related Papers (5)
Robust control of electrically driven robots using adaptive uncertainty estimation
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Chin Su Kim,Kang Woong Lee +1 more