Hybrid Adaptive Robust-Control For A Robot Manipulator

    Authors

    D. M. Dawson; Z. Qu;F. L. Lewis

    Comments

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    Abbreviated Journal Title

    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.

    Journal 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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