Hybrid Adaptive Robust-Control For A Robot Manipulator
Title - Alternative
Int. J. Adapt. Control Signal Process.
ROBUST; ADAPTIVE CONTROL ROBOTICS; NONLINEAR CONTROL; Automation & Control Systems; Engineering, Electrical & Electronic
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.
International Journal of Adaptive Control and Signal Processing
Dawson, D M.; Qu, Z; and Lewis, F L., "Hybrid Adaptive Robust-Control For A Robot Manipulator" (1992). Faculty Bibliography. 2031.