Open AccessDOI
Practical evaluation of robust control for a class of nonlinear mechanical dynamic systems
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The final author version and the galley proof are versions of the publication after peer review that features the final layout of the paper including the volume, issue and page numbers.Abstract:
• A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers.read more
Citations
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Journal ArticleDOI
Experimental comparison of parameter estimation methods in adaptive robot control
TL;DR: In this paper, a comparative study of tracking error-driven and prediction-error-driven least-squares type adaptation methods was performed on a two-degrees-of-freedom robot manipulator.
Adaptive computed reference computed torque control of flexible manipulators
TL;DR: A submitted manuscript is the version of the article upon submission and before peer-review as discussed by the authors, while a published version is the final layout of the paper including the volume, issue and page numbers.
Robustness of a second order sliding mode controller
TL;DR: The required complexity or quality of research of student theses may vary by program, and the required minimum minimum study period may vary in duration as discussed by the authors. But the grade received is not published on the document as presented in the repository.
RRR-robot : design of an industrial-like test facility for nonlinear robot control
TL;DR: The final author version and the galley proof are versions of the publication after peer review that features the final layout of the paper including the volume, issue and page numbers.
Experimental comparison of parameter estimation methods in adaptive robot control
TL;DR: Experimental data is presented from a comparative study between tracking-error driven gradient method and prediction-error-driven least-squares type adaptation methods, performed on a two-degrees-of-freedom robot manipulator, which concludes that the tracking- error drivengradient method is preferred for parameter adaptation in robotic applications.
References
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Journal ArticleDOI
State-space solutions to standard H/sub 2/ and H/sub infinity / control problems
TL;DR: In this article, simple state-space formulas are derived for all controllers solving the following standard H/sub infinity / problem: for a given number gamma > 0, find all controllers such that the H/ sub infinity / norm of the closed-loop transfer function is (strictly) less than gamma.
Journal ArticleDOI
Variable structure systems with sliding modes
TL;DR: Design and analysis forVariable structure systems are surveyed in this paper and it is shown that advantageous properties result from changing structures according to this switching logic.
Book
Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
Proceedings ArticleDOI
State-space solutions to standard H 2 and H ∞ control problems
TL;DR: In this article, simple state-space formulas are presented for a controller solving a standard H∞-problem, where the controller has the same state-dimension as the plant, its computation involves only two Riccati equations, and it has a separation structure reminiscent of classical LQG theory.
Journal ArticleDOI
Multivariable feedback design: Concepts for a classical/modern synthesis
John Doyle,Gunter Stein +1 more
TL;DR: This paper presents a practical design perspective on multivariable feedback control problems and generalizes known single-input, single-output (SISO) statements and constraints of the design problem to multiinput, multioutput (MIMO) cases.