Model-independent control of a flexible-joint robot manipulator

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 131, Issue 4, 2009, Pages 1-10

  Chatlatanagulchai, Withit ^a   Meckl, Peter H ^b  

^a KASETSART UNIVERSITY   (Thailand)

^b PURDUE UNIVERSITY   (United States)

Author keywords

Backstepping; Flexible joint robot; Intelligent control; Neural networks; Nonlinear systems; Output feedback; Variable structure control

Indexed keywords

ADJUSTABLE PARAMETERS; COMPLICATED SYSTEMS; CONTROL ALGORITHMS; CONTROL DESIGN; CONTROL INPUTS; CONTROL LAWS; ERROR TRAJECTORIES; FLEXIBLE DYNAMICS; FLEXIBLE JOINTS; GLOBALLY UNIFORMLY ULTIMATELY BOUNDED; HIGH-PERFORMANCE CONTROLLERS; INDEPENDENT CONTROL; INTRINSIC PROPERTY; JOINT FLEXIBILITY; LYAPUNOV; OPEN PROBLEMS; OUTPUT FEEDBACK; OUTPUT SIGNAL; PASSIVITY PROPERTIES; POSSIBLE SOLUTIONS; REAL TIME; ROBOT MANIPULATOR; SYSTEM MODELS; THREE-LAYER NEURAL NETWORKS; TWO-STATE; UNDERACTUATED;

ALGORITHMS; BACKSTEPPING; CONTROL THEORY; FEEDBACK; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; INTELLIGENT CONTROL; INTELLIGENT ROBOTS; MACHINE DESIGN; MATHEMATICAL MODELS; MODULAR ROBOTS; NONLINEAR FEEDBACK; NONLINEAR SYSTEMS; ROBOT APPLICATIONS; STATE FEEDBACK;

NEURAL NETWORKS;

EID: 77953606819     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.3117185     Document Type: Article

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