Name
Abstract | ||
|---|---|---|
In this paper, a robust adaptive control scheme for mechanical manipulators is presented. The design basically consists, on the one hand, of an adaptive controller that implements a feedback linearization control law which compensates the modeled dynamics, and, on the other hand, of an adaptive sliding-mode control law that overcomes the unmodelled dynamics and noise. It is also proved that the resulting closed-loop system is stable and that the trajectory tracking control objective is asymptotically achieved. Finally, some simulation results are also provided to evaluate the design. |
Year | DOI | Venue |
|---|---|---|
2000 | 10.1080/019697200124928 | CYBERNETICS AND SYSTEMS |
Field | DocType | Volume |
Control theory,Control theory,Feedback linearization,Adaptive control,Robot manipulator,Robust control,Trajectory,Mathematics | Journal | 31.0 |
Issue | ISSN | Citations |
1 | 0196-9722 | 9 |
PageRank | References | Authors |
0.59 | 0 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Oscar Barambones | 1 | 56 | 13.24 |
| Victor Etxebarria | 2 | 28 | 4.78 |