Combined computed torque and model reference adaptive control of robot systems

DOI10.1016/0016-0032(90)90022-BMaRDI QIDQ920069zbMATH OpenFDO

Authors Spyros G. Tzafestas, Leonidas Dritsas

Publication date 1990

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0016-0032(90)90022-B

zbMATH Keywords

bounded uncertaintiesdouble link manipulatorfeedback computed torque methodmodel reference adaptive control algorithmperfect trackingrobot controlrobust technique

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Review text

A new robust technique for robot control is presented which is based on a combination of the feedback computed torque method with the model reference adaptive control algorithm. The resulting controller guarantees perfect tracking for all bounded uncertainties if the correct state vector is available for feedback. The results are illustrated by a double link manipulator computational example.

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Cites work

• Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
• scientific article; zbMATH DE number 3746882 (Why is no real title available?)
• Model reference adaptive control algorithms for industrial robots
• Robust model tracking control for a class of nonlinear plants
• Robust nonlinear feedback control for robotic manipulators

Cited in

(10)

• Robust control of robots by the computed torque law
• An addendum on Robust control of robots by the computed torque method
• The variable-inertia modified computed-torque control of robot manipulators
• Robust trajectory following of robots using computed torque structure with VSS
• Robust nonlinear feedback control for robotic manipulators
• scientific article; zbMATH DE number 4008218 (Why is no real title available?)
• An enhanced scheme for the model-based control of robot manipulators
• Combined direct and indirect adaptive control of constrained robots
• An Approach to Adaptive Control of Robot Manipulators Using the Computed Torque Technique
• Computed torque control of an under-actuated service robot platform modeled by natural coordinates

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