Title

Hybrid Adaptive Robust-Control For A Robot Manipulator

Title - Alternative

Int. J. Adapt. Control Signal Process.

Keywords

ROBUST; ADAPTIVE CONTROL ROBOTICS; NONLINEAR CONTROL; Automation & Control Systems; Engineering, Electrical & Electronic

Abstract

In this paper we present a hybrid adaptive-robust controller to achieve trajectory following for a robot manipulator. The controller consists of two parts: a proportional-derivative (PD) feedback loop and an adaptive-robust law for the manipulator dynamics. An advantage of this method is that our controller takes advantage of the manipulator dynamic structure to allow the designer to select a controller that is a combination of an adaptive approach and a robust-adaptive approach.

Publication Title

International Journal of Adaptive Control and Signal Processing

Volume

6

Issue/Number

6

Publication Date

1-1-1992

Document Type

Article

Language

English

First Page

537

Last Page

545

WOS Identifier

WOS:A1992KL89800002

ISSN

0890-6327

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