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Force/position tracking for a robotic finger in compliant contact with a surface using neuro-adaptive control
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.ORCID iD: 0000-0001-5129-342X
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
2006 (English)In: Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC), 2006, 1608-1613 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this work, the problem of force/position tracking for a robotic finger in compliant contact with a surface under non-parametric uncertainties is considered. In particular, structural uncertainties are assumed to characterize the compliance model as well as the robot dynamic model. A novel neuro-adaptive controller is proposed that exploits the approximation capabilities of the linear in the weights neural networks and the uniform ultimate boundedness of force and position error is proved. Simulation results illustrate the performance of the proposed controller

Place, publisher, year, edition, pages
2006. 1608-1613 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-50975DOI: 10.1109/CACSD-CCA-ISIC.2006.4776881ISBN: 0780397983 (print)ISBN: 978-078039798-9 OAI: oai:DiVA.org:kth-50975DiVA: diva2:463127
Conference
Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC). Munich. 4 October 2006 - 6 October 2006
Note
QC 20111212Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2011-12-12Bibliographically approved

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Karayiannidis, Yiannis

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf