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A global dynamic output feedback tracking controller for robots with elastic joints is presented. The controller only requires the measurements of position and speed of each link, and guarantees the tracking of any bounded reference trajectory. The dynamic part of the proposed controller consists...
A novel scheme for integrating a neural network approach with an adaptive implementation of variable structure control for multijointed robotic manipulators in complex task executions is presented. The control strategy is developed within the general framework of nonlinear model-following control...
Based on the theory of generalized inverses and Bellman's dynamic programming approach, two forms of solutions to the optimal and minimum-energy optimal tracking problems are presented for discrete linear time-varying systems. A further and detailed study on the optimal and minimum-energy optimal...