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Conference Aug 2026

Robust Subsystem-based Impedance Control of Flexible Manipulator

This paper proposes a Robust Subsystem-based Impedance Model Predictive Control (RSI-MPC) framework for the task-space control of flexible manipulators. Controlling flexible-link manipulators poses significant challenges due to their distributed dynamics, structural vibrations, and sensitivity to external disturbances....

S. M. Tahamipour-Z., S. Yaqubi, J. Mattila · 0 citations
Conference Sep 2026

Robust sliding mode control of robotic manipulators with model uncertainty and external environmental disturbances

A new control scheme is presented in this work for robotic manipulators with model inaccuracies and external disturbances. The strategy is designed in two stages. First, a nonlinear controller is designed on the basis of the nominal system model to satisfy prescribed trajectory-tracking constraints. This controller is...

Xiao-Ying Ye, Hao You, Hong Ge et al. · 0 citations
Preprint Sep 2026

Observer-Based Robust Control for an Aerial Manipulator System under Unknown External Disturbances

This paper addresses the mathematical modeling and control of an aerial manipulator system comprising a quadrotor as the uncrewed aerial vehicle and a robotic arm as the manipulator. The dynamic model is established by identifying the overall center-of-mass velocity and the system's orientation as constraints, yielding...

Mayank Pandey, Sneha Gajbhiye · 0 citations
Open access Sep 2026

Integrated Vibration Suppression for Industrial Manipulators via Disturbance Observer and Partial Eigenstructure Assignment

Residual vibration of industrial manipulators can limit positioning efficiency and dynamic accuracy during high-speed motion. This study develops an integrated vibration-suppression framework for a rigid-link manipulator with flexible-joint dynamics. A controller-oriented rigid–flexible model with lumped disturbances i...

Xiao-Wei Han, Kun Wu, Xiao-Peng Xu et al. · 0 citations
Open access Aug 2026

Sliding mode control of robot manipulators via an improved recurrent neural network and barrier functions

Robotic manipulators are subject to parametric uncertainties and external disturbances, which complicate accurate trajectory tracking. Existing approaches may require accurate dynamic models, multiple adaptive networks, or conservative fixed switching gains. To address these issues, an adaptive terminal sliding-mode co...

Wen-Dong Li, Jing Zhao, Hai-Cheng Wan · 0 citations
Sep 2026

Tube-based robust model predictive control for robot manipulators with integral sliding mode residual error bounds.

To address the problem of safe trajectory tracking for robotic manipulators subject to model uncertainties, external disturbances, and constraints on both states and torques, this paper proposes a robust tube-based model predictive control (TMPC) method that accounts for residual errors within the integral sliding mode...

Jia-Wei Sun, Chao Peng, Jian-Xiao Zou et al. · 0 citations

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