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)

zbMATH Keywords

robot controlperfect trackingbounded uncertaintiesdouble link manipulatorfeedback computed torque methodmodel reference adaptive control algorithmrobust technique

Mathematics Subject Classification ID

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

Recommendations

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Cites work

• scientific article; zbMATH DE number 3746882 (Why is no real title available?)
• Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
• 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)

• An enhanced scheme for the model-based control of robot manipulators
• The variable-inertia modified computed-torque control of robot manipulators
• Robust nonlinear feedback control for robotic manipulators
• An addendum on Robust control of robots by the computed torque method
• 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
• scientific article; zbMATH DE number 4008218 (Why is no real title available?)
• Robust control of robots by the computed torque law
• Robust trajectory following of robots using computed torque structure with VSS
• Combined direct and indirect adaptive control of constrained robots

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