Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot

Autor: Jean Bosco Mbede, Joseph Jean-Baptiste Mvogo Ahanda

Publikováno v: Journal of Robotics, Vol 2014 (2014)

This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynami

Externí odkaz: https://doaj.org/article/55cdcbaca555475dae4ea52451c27c52

Robust adaptive control for robot manipulators: Support vector regression-based command filtered adaptive backstepping approach

Autor: Achille Melingui, Bernard Z. Essimbi, Jean Bosco Mbede, Joseph Jean-Baptiste Mvogo Ahanda

Publikováno v: Robotica. 36:516-534

SUMMARYThis study derives a robust adaptive control of electrically driven robot manipulators using a support vector regression (SVR)-based command filtered adaptive backstepping approach. The robot system is supposed to be subject to model uncertain

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::52c09c81bb248b4b277ad42c42d93464
https://doi.org/10.1017/s0263574717000534

Robust Control for Robot Manipulators: Support Vector Regression Based Command Filtered Adaptive Backstepping Approach

Autor: Othman Lakhal, Achille Melingui, Jean Bosco Mbede, Joseph Jean-Baptiste Mvogo Ahanda, Bernard Essimbi Zobo, Rochdi Merzouki

Publikováno v: IFAC-PapersOnLine. 50:8208-8213

This study derives a robust adaptive control for electrically driven robot manipulators using support vector regression (SVR) based command filtered adaptive backstepping approach. The robot system is supposed to be subject to model uncertainties, ne

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::7ee2a77e499702248ad91ba6755ff43a
https://doi.org/10.1016/j.ifacol.2017.08.1385

Qualitative approach for forward kinematic modeling of a Compact Bionic Handling Assistant trunk

Autor: Jean Bosco Mbede, Rochdi Merzouki, Nabil Benoudjit, Coralie Escande, Achille Melingui

Publikováno v: Scopus-Elsevier
IFAC Proceedings Volumes
IFAC Proceedings Volumes, Elsevier, 2014, 47 (3), pp.9353-9358. ⟨10.3182/20140824-6-ZA-1003.01758⟩

This paper addresses the forward kinematic model of a class of hyper-redundant continuum robot, namely Compact Bionic Handling Assistant (CBHA). Inspired from the elephant trunk, it can reproduce some biological behaviors of trunks, tentacles, or sna

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::90e25a686b40ac8bc8f2a8dc704a331e
https://doi.org/10.3182/20140824-6-za-1003.01758

Adaptive Neural Network Control of a Compact Bionic Handling Arm

Autor: Achille Melingui, Boubaker Daachi, Jean Bosco Mbede, Othman Lakhal, Rochdi Merzouki

Publikováno v: IEEE/ASME Transactions on Mechatronics
IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2015, 20 (6), pp.2862-2875. ⟨10.1109/TMECH.2015.2396114⟩
IEEE Transactions on Mechatronics
IEEE Transactions on Mechatronics, 2015, 20 (6), pp.2862-2875
IEEE/ASME Transactions on Mechatronics, 2015, 20 (6), pp.2862-2875. ⟨10.1109/TMECH.2015.2396114⟩
IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2015, 20 (6), pp.2862-2875

In this paper, autonomous control problem of a class of bionic continuum robots named “Compact Bionic Handling Arm” (CBHA) is addressed. These robots can reproduce biological behaviors of trunks, tentacles, or snakes. The modeling problem associa

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1d35e96f673b60cc6d97866fb093c60e
https://hal.archives-ouvertes.fr/hal-01694231