Journal ArticleDOI
Prescribed Performance Tracking of a Variable Stiffness Actuated Robot
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TLDR
A state feedback control scheme for variable stiffness actuated (VSA) robots, which guarantees prescribed performance of the tracking errors despite the low range of mechanical stiffness, is proposed.Abstract:
This paper is concerned with the design of a state feedback control scheme for variable stiffness actuated (VSA) robots, which guarantees prescribed performance of the tracking errors despite the low range of mechanical stiffness. The controller does not assume knowledge of the actual system dynamics nor does it utilize approximating structures (e.g., neural networks and fuzzy systems) to acquire such knowledge, leading to a low complexity design. Simulation studies, incorporating a model validated on data from an actual variable stiffness actuator (VSA) at a multi-degrees-of-freedom robot, are performed. Comparison with a gain scheduling solution reveals the superiority of the proposed scheme with respect to performance and robustness.read more
Citations
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Journal ArticleDOI
Path Following of a Surface Vessel With Prescribed Performance in the Presence of Input Saturation and External Disturbances
Zewei Zheng,Mir Feroskhan +1 more
TL;DR: It is demonstrated that under the proposed control, the prescribed transient and steady tracking performance bounds are never violated, and all closed-loop signals remain uniformly ultimately bounded, despite the presence of input saturation and disturbances.
Journal ArticleDOI
Extended-State-Observer-Based Funnel Control for Nonlinear Servomechanisms With Prescribed Tracking Performance
TL;DR: The proposed funnel function removes the imposed assumption used in conventional funnel controls and avoids the potential singularity problem in prescribed performance controls and an extended state observer (ESO) is used to address the effect of unknown dynamics in the control system.
Journal ArticleDOI
Adaptive Neural Network Based Variable Stiffness Control of Uncertain Robotic Systems Using Disturbance Observer
TL;DR: A novel disturbance observer based adaptive neural network control is proposed for robotic systems with variable stiffness joints and subject to model uncertainties by utilizing a high-dimensional integral Lyapunov function.
Journal ArticleDOI
Approximation-Free Robust Synchronization Control for Dual-Linear-Motors-Driven Systems With Uncertainties and Disturbances
TL;DR: In this article , an approximation-free robust synchronization control scheme based on cross-coupled control (CCC) frame is proposed to achieve high-precision tracking and synchronization performance, along with excellent uncertainties and disturbances rejection ability.
Journal ArticleDOI
Discrete-Time Quasi-Sliding-Mode Control With Prescribed Performance Function and its Application to Piezo-Actuated Positioning Systems
TL;DR: The discrete-time quasi-sliding-mode control with a new sliding variable is proposed, and by using a modified convergence zone, the transient response of the system can be adjusted without producing the offset error in the steady state.
References
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Journal ArticleDOI
Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance
TL;DR: It is shown that stabilization of the ldquounconstrainedrdquo system is sufficient to solve the stated problem and guarantees a uniform ultimate boundedness property for the transformed output error and the uniform boundedness for all other signals in the closed loop.
Journal ArticleDOI
Brief paper: Adaptive control with guaranteed transient and steady state tracking error bounds for strict feedback systems
TL;DR: Two robust adaptive control schemes for single-input single-output (SISO) strict feedback nonlinear systems possessing unknown nonlinearities, capable of guaranteeing prescribed performance bounds are presented in this paper.
Journal ArticleDOI
Fast and "soft-arm" tactics [robot arm design]
Antonio Bicchi,G. Tonietti +1 more
TL;DR: In this paper, the authors considered the problem of designing joint-actuation mechanisms that can allow fast and accurate operation of a robot arm, while guaranteeing a suitably limited level of injury risk.
Proceedings ArticleDOI
A new variable stiffness design: Matching requirements of the next robot generation
Sebastian I. Wolf,Gerd Hirzinger +1 more
TL;DR: The VS- Joint features a highly dynamic stiffness adjustment along with a mechanically programmable system behavior that allows an easy adaption to a big variety of tasks and provides excellent attributes for the use in shoulder and elbow joints of an anthropomorphic robot arm.
Journal ArticleDOI
Prescribed Performance Adaptive Control for Multi-Input Multi-Output Affine in the Control Nonlinear Systems
TL;DR: The proposed controller is continuous and successfully overcomes the problem of computing the control law when the approximation model becomes uncontrollable and a switching robust control Lyapunov function (RCLF)-based adaptive, state feedback controller is designed.