Now showing items 1-4 of 4
Online time delay estimation in networked control systems with application to bilateral teleoperation
The problem of forward and backward time delays is significantly important for both control and feedback loop of networked control systems. These time delays give rise to latency in performance and thereby may destabilize ...
On null-space control of kinematically redundant robot manipulators
In this study, we consider the null-space control problem of redundant robot manipulators. Specifically for robot manipulators with kinematically redundancy where at least one extra degree of freedom is present, we introduce ...
Lyapunov-based output feedback learning control of robot manipulators
This paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for ...
A dynamic model free observer based output feedback tracking control of robot manipulators in task-space
(Institute of Electrical and Electronics Engineers, 2018)
This paper addresses the output feedback end-effector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis ...