Area of research
Control and Systems Engineering · Biomedical Engineering
Research interest
Research topics from publications: Robust Command-Filtered Control With Prescribed Performance for Flexible-Joint Robots. Representative work: This article proposes a robust command-filtered control method with prescribed performance for flexible-joint robots (FJRs) wherein matched and mismatched disturbances are compensated by designing generalized proportional integral disturbance observers (GPIOs). The contributions are threefold. Firstly, a prescribed performance function (PPF), compared with that of the previous schemes, frees the assumption that the initial value of tracking errors within a predetermined region and thus is global, which brings dynamic response and steady-state precision benefits. Secondly, unlike most existing backstepping controllers that handle only internal uncertainties, the method presented here also con