Title
Hybrid adaptive control for the tracking of rigid-link electrically-driven robots
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. © 1994 Taylor & Francis Group, LLC.
Publication Date
1-1-1994
Publication Title
Advanced Robotics
Volume
9
Issue
3
Number of Pages
331-347
Document Type
Article
Identifier
scopus
Personal Identifier
scopus
DOI Link
https://doi.org/10.1163/156855395X00238
Copyright Status
Unknown
Socpus ID
0029227005 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/0029227005
STARS Citation
Guldner, J.; Dawson, D. M.; and Qu, Z., "Hybrid adaptive control for the tracking of rigid-link electrically-driven robots" (1994). Scopus Export 1990s. 272.
https://stars.library.ucf.edu/scopus1990/272