Nonlinear PI"D"-Type Control of Flexible Joint Robots by Using Motor Position Measurements Is Globally Asymptotically Stable.
Jerónimo MoyrónJavier Moreno-ValenzuelaJesús SandovalPublished in: IEEE Trans. Autom. Control. (2023)
Keyphrases
- position control
- control system
- tracking control
- joint space
- robotic systems
- robotic manipulator
- mobile robot
- cooperative
- autonomous robots
- control strategies
- robot control
- autonomous systems
- industrial robots
- force control
- highly nonlinear
- end effector
- motion control
- motor control
- induction motor
- model predictive control
- adaptive neural
- multi robot
- control strategy
- dead reckoning
- degrees of freedom
- human operators
- control signals
- control method
- closed loop