Title

Hybrid Adaptive‐Robust Control For A Robot Manipulator

Keywords

Adaptive control robotics; Non‐linear control; Robust

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. Copyright © 1992 John Wiley & Sons, Ltd.

Publication Date

1-1-1992

Publication Title

International Journal of Adaptive Control and Signal Processing

Volume

6

Issue

6

Number of Pages

537-545

Document Type

Article

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1002/acs.4480060603

Socpus ID

0026945225 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0026945225

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