Title
Hybrid Adaptive-Control For The Tracking Of Rigid-Link Electrically-Driven Robots
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
ISSN
0169-1864
Recommended Citation
"Hybrid Adaptive-Control For The Tracking Of Rigid-Link Electrically-Driven Robots" (1995). Faculty Bibliography 1990s. 1349.
https://stars.library.ucf.edu/facultybib1990/1349
Comments
Authors: contact us about adding a copy of your work at STARS@ucf.edu