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Dynamic external force feedback loop control of a robot manipulator using a neural compensator - Application to the trajectory following in an unknown environment

Farid FergueneRedouane Toumi — 2009

International Journal of Applied Mathematics and Computer Science

Force/position control strategies provide an effective framework to deal with tasks involving interaction with the environment. One of these strategies proposed in the literature is external force feedback loop control. It fully employs the available sensor measurements by operating the control action in a full dimensional space without using selection matrices. The performance of this control strategy is affected by uncertainties in both the robot dynamic model and environment stiffness. The purpose...

Finite horizon nonlinear predictive control by the Taylor approximation application to robot tracking trajectory

Ramdane HedjarRedouane ToumiPatrick BoucherDidier Dumur — 2005

International Journal of Applied Mathematics and Computer Science

In industrial control systems, practical interest is driven by the fact that today's processes need to be operated under tighter performance specifications. Often these demands can only be met when process nonlinearities are explicitly considered in the controller. Nonlinear predictive control, the extension of well-established linear predictive control to nonlinear systems, appears to be a well-suited approach for this kind of problems. In this paper, an optimal nonlinear predictive control structure,...

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