Related papers: Position Control of Single Link Flexible Manipulat…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately.…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
This work deals with the design of a sliding mode observer with a multi-surfaces sliding mode multimodel control (SM-MMC) for a mechanical sensorless pumping system. The observer is designed to estimate the speed and the mechanical position…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
In this paper, an adaptive nonlinear strategy for the motion and force control of flexible manipulators is proposed. The approach provides robust motion control until contact is detected when force control is then available--without any…
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
In this paper we propose an implicit force control scheme for a one-link flexible manipulator that interact with a compliant environment. The controller was based in the mathematical model of the manipulator, considering the dynamics of the…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
Flexible-joint manipulators are frequently used for increased safety during human-robot collaboration and shared workspace tasks. However, joint flexibility significantly reduces the accuracy of motion, especially at high velocities and…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By…
This paper proposes a novel approach for designing functional observers for nonlinear systems, with linear error dynamics and assignable poles. Sufficient conditions for functional observability are first derived, leading to functional…
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper presents a data-driven approach to identifying soft…
In this paper we address the problem of state observation for sensorless control of nonlinear magnetic levitation systems, that is, the regulation of the position of a levitated object measuring only the voltage and current of the…
The sliding mode observer is a useful method for estimating the system state and the unknown disturbance. However, the traditional single-layer observer might still suffer from high pulse when the output measurement is mixed with noise. To…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…