A Lyapunov-based robust control for permanent magnet synchronous motor in the modular joint of collaborative robot.
Shengchao ZhenYangyang LiXiaoli LiuJun WangFeng ChenXiaofei ChenPublished in: Robotica (2023)
Keyphrases
- permanent magnet synchronous
- position control
- control system
- control signals
- motor learning
- robust stability
- control theory
- control scheme
- adaptive control
- closed loop
- robotic arm
- wheeled mobile robot
- robot manipulators
- robotic systems
- mobile robot
- hand eye
- robot control
- skill learning
- robotic manipulator
- visual servoing
- motion control
- autonomous robots
- control law
- sensory motor
- modular robots
- force control
- real time control
- induction motor
- motor control
- control architecture
- control strategies
- nonlinear dynamics
- degrees of freedom
- control strategy
- motor skills
- joint space
- linear matrix inequality
- optimal control
- path planning
- asymptotic stability
- home environment
- dynamic model
- end effector
- fault tolerant control
- walking robot
- real time