Robust adaptive trajectory tracking independent of models for robotic manipulators

DOI10.1002/ROB.1043zbMath1006.70007OpenAlexW2083805817MaRDI QIDQ2764538

Peng-Yung Woo, Huitang Chen, Yuejuan Wang, Qijun Chen

Publication date: 13 March 2003

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.1043

zbMATH Keywords

uncertaintiestrajectory trackingglobal exponential convergenceLyapunov approachrobust adaptive trajectory controltrajectory errortwo-link direct-drive robotic manipulator

Mathematics Subject Classification ID

Experimental work for problems pertaining to mechanics of particles and systems (70-05) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

Application of logarithmic-based parameter and upper bounding estimation rules to adaptive-robust control of robot manipulators

Cites Work

• Adaptive motion control of rigid robots: A tutorial
• Robust adaptive control of a class of nonlinear mechanical systems with unbounded and fast-varying uncertainties
• Guarenteed rates of exponential convergence for uncertain systems
• Robust tracking control of robots by a linear feedback law
• Adaptive tracking control of rigid manipulators using only position measurements
• A new class of adaptive controllers for robot trajectory tracking

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