Passivity based hierarchical multi-task tracking control for redundant manipulators with uncertainties
Weichao Sun, Yeqing Yuan
Topics & Concepts
Jacobian matrix and determinantKinematicsControl theory (sociology)Controller (irrigation)Convergence (economics)TrajectoryComputer scienceTask (project management)CorrectnessTracking (education)PassivityAdaptive controlRobotControl engineeringMathematicsControl (management)Artificial intelligenceAlgorithmEngineeringAgronomyApplied mathematicsElectrical engineeringPsychologySystems engineeringBiologyAstronomyPedagogyPhysicsEconomicsClassical mechanicsEconomic growthTeleoperation and Haptic SystemsAdaptive Control of Nonlinear SystemsRobotic Mechanisms and Dynamics