Singular perturbation

An integral manifold approach to the feedback control of flexible joint robots

Mark W. Spong, K. Khorasani, P.V. Kokotović

Citations: 450 • 1987

Adaptive control of flexible joint manipulators

Mark W. Spong

Citations: 214 • 1989

Adaptive control of flexible-joint manipulators

Fathi H. Ghorbel, John Y. Hung, Mark W. Spong

Citations: 197 • 1989

Dynamic Modeling and Control of Parallel Robots With Elastic Cables: Singular Perturbation Approach

Mohammad A. Khosravi, Hamid D. Taghirad

Citations: 172 • 2014

Efficient PID Tracking Control of Robotic Manipulators Driven by Compliant Actuators

Yongping Pan, Xiang Li, Haoyong Yu

Citations: 161 • 2018

High-gain observers in the state and parameter estimation of robots having elastic joints

S. Nicosia, Antonio Tornambè

Citations: 144 • 1989

Implementation of sliding mode control with perturbation estimation (SMCPE)

Hakan Elmali, Nejat Olgaç

Citations: 135 • 1996

Full-State Tracking Control for Flexible Joint Robots With Singular Perturbation Techniques

Joon-Young Kim, Elizabeth A. Croft

Citations: 118 • 2017

Flexible‐link robot arm control by a feedback linearization/singular perturbation approach

M.W. Vandegrift, Frank L. Lewis, S.Q. Zhu

Citations: 116 • 1994

Control of wheeled mobile robots not satisfying ideal velocity constraints: A singular perturbation approach

Brigitte d’Andréa-Novel, G. Campion, Georges Bastin

Citations: 114 • 1995

Singular-Perturbation-Based Nonlinear Hybrid Control of Redundant Parallel Robot

Tao Sun, Dong Liang, Yimin Song

Citations: 113 • 2017

Semiglobal stability of saturated linear PID control for robot manipulators

José Álvarez‐Ramírez, Rafael Kelly, Ilse Cervantes

Citations: 112 • 2003

Adaptive control of flexible-joint robots

K. Khorasani

Citations: 98 • 1992

Adaptive control of flexible joint manipulators: Comments on two papers

Mark W. Spong

Citations: 96 • 1995

Invariant manifolds and their application to robot manipulators with flexible joints

K. Khorasani, Mark W. Spong

Citations: 92 • 2005

A geometric approach to nonlinear singularly perturbed control systems

R. Marino, P.V. Kokotović

Citations: 90 • 1988

Singular Perturbation-Based Adaptive Integral Sliding Mode Control for Flexible Joint Robots

Raja Fawad Afsar Khan, Kamal Rsetam, Zhenwei Cao, Zhihong Man

Citations: 87 • 2022

Adaptive control of flexible joint manipulators

Fathi H. Ghorbel, John Y. Hung, Mark W. Spong

Citations: 84 • 2003

Dynamic Control of Parallel Robots Driven by Flexible Cables and Actuated by Position-Controlled Winches

Jérémy Begey, Loïc Cuvillon, Maximilien Lesellier, Marc Gouttefarde, Jacques Gangloff

Citations: 81 • 2018

Area aggregation and time-scale modeling for sparse nonlinear networks

Emrah Bıyık, Murat Arcak

Citations: 78 • 2007