Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models

Amit Ailon

doi:10.1016/0005-1098(96)00087-8

Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models

Amit Ailon

Department of Electrical & Computer Engineering

Research output: Contribution to journal › Article › peer-review

34 Scopus citations

Abstract

This paper considers the set-point regulation problem of a flexible-joint robot with unknown parameters where only position measurements are available. The proposed iterative schemes guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point. An essential tool in the present approach is the contraction mapping theorem.

Original language	English
Pages (from-to)	1455-1461
Number of pages	7
Journal	Automatica
Volume	32
Issue number	10
DOIs	https://doi.org/10.1016/0005-1098(96)00087-8
State	Published - 1 Jan 1996

Keywords

Output controllers
Set-point control: Global contraction mapping
Uncertain robots

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1016/0005-1098(96)00087-8

Cite this

@article{da9d5f9caca1428bbb1f7dd49d4738fd,

title = "Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models",

abstract = "This paper considers the set-point regulation problem of a flexible-joint robot with unknown parameters where only position measurements are available. The proposed iterative schemes guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point. An essential tool in the present approach is the contraction mapping theorem.",

keywords = "Output controllers, Set-point control: Global contraction mapping, Uncertain robots",

author = "Amit Ailon",

year = "1996",

month = jan,

day = "1",

doi = "10.1016/0005-1098(96)00087-8",

language = "English",

volume = "32",

pages = "1455--1461",

journal = "Automatica",

issn = "0005-1098",

publisher = "Elsevier Ltd.",

number = "10",

}

TY - JOUR

T1 - Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models

AU - Ailon, Amit

PY - 1996/1/1

Y1 - 1996/1/1

N2 - This paper considers the set-point regulation problem of a flexible-joint robot with unknown parameters where only position measurements are available. The proposed iterative schemes guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point. An essential tool in the present approach is the contraction mapping theorem.

AB - This paper considers the set-point regulation problem of a flexible-joint robot with unknown parameters where only position measurements are available. The proposed iterative schemes guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point. An essential tool in the present approach is the contraction mapping theorem.

KW - Output controllers

KW - Set-point control: Global contraction mapping

KW - Uncertain robots

UR - http://www.scopus.com/inward/record.url?scp=0030262135&partnerID=8YFLogxK

U2 - 10.1016/0005-1098(96)00087-8

DO - 10.1016/0005-1098(96)00087-8

M3 - Article

AN - SCOPUS:0030262135

SN - 0005-1098

VL - 32

SP - 1455

EP - 1461

JO - Automatica

JF - Automatica

IS - 10

ER -

Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this