HYBRID ADAPTIVE ROBUST-CONTROL FOR A ROBOT MANIPULATOR

被引：18

作者：

DAWSON, DM

QU, Z

LEWIS, FL

机构：

[1] CLEMSON UNIV,SCH ELECT & COMP ENGN,CLEMSON,SC 29634

[2] UNIV CENT FLORIDA,DEPT ELECT ENGN,ORLANDO,FL 32816

[3] UNIV TEXAS ARLINGTON,INST AUTOMAT & ROBOT,FT WORTH,TX 76118

来源：

INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 1992年 / 6卷 / 06期

关键词：

ROBUST; ADAPTIVE CONTROL ROBOTICS; NONLINEAR CONTROL;

D O I：

10.1002/acs.4480060603

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：537 / 545

页数：9

共 13 条

[1]

Abdallah C., 1991, IEEE Control Systems Magazine, V11, P24, DOI 10.1109/37.67672

[2] ADAPTIVE-CONTROL OF SYSTEMS CONTAINING UNCERTAIN FUNCTIONS AND UNKNOWN FUNCTIONS WITH UNCERTAIN BOUNDS [J].