Virtual decomposition based control for generalized high dimensional robotic systems with complicated structure

IEEE Transactions on Robotics and Automation

Volumn 13, Issue 3, 1997, Pages 411-436

  Zhu, Wen Hong ^a,b   Xi, Yu Geng ^c   Zhang, Zhong Jun ^c   Bien, Zeungnam ^a,d   De Schutter, Joris ^a,b  

^a IEEE   (Belgium)

^b UNIVERSITY OF LEUVEN   (Belgium)

^c SHANGHAI JIAO TONG UNIVERSITY   (China)

^d Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

Adaptive control; Control of complex robots; Control of multiple robots; Control of space robots; Control systems; Dynamics; Lyapunov methods; Manipulators; Modular design stability; Motion force control; Nonlinear systems; Parameter estimation; Position control

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; FORCE CONTROL; LYAPUNOV METHODS; MANIPULATORS; MOTION CONTROL; NONLINEAR CONTROL SYSTEMS; POSITION CONTROL;

VIRTUAL DECOMPOSITION CONTROL;

MODULAR ROBOTS;

EID: 0031165590     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.585903     Document Type: Article

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