Hybrid Adaptive-Control For The Tracking Of Rigid-Link Electrically-Driven Robots

    Authors

    J. Guldner; D. M. Dawson;Z. Qu

    Comments

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    Abbreviated Journal Title

    Adv. Robot.

    Keywords

    SYSTEMS; Robotics

    Abstract

    In this paper, we design a hybrid adaptive/robust tracking controller for rigid-link electrically-driven (RLED) robot manipulators. The controller is hybrid in the sense that an adaptive controller is used to compensate for parametric uncertainties in the rigid-link equation while an adaptive robust controller corrects for the typically ignored electrical actuator dynamics. That is, in spite of these detrimental uncertainties and effects, we are still able to ensure global asymptotic stability of the link position tracking error.

    Journal Title

    Advanced Robotics

    Volume

    9

    Issue/Number

    3

    Publication Date

    1-1-1995

    Document Type

    Article

    Language

    English

    First Page

    331

    Last Page

    347

    WOS Identifier

    WOS:A1995RL76900009

    ISSN

    0169-1864

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