Computed-torque plus robust adaptive compensation control for robot manipulator with structured and unstructured uncertainties

DOI10.1093/IMAMCI/DNU024MaRDI QIDQ2803382zbMATH OpenOpenAlexFDO

Authors Shuxia Lin, Shurong Ning, Jun Gao, Y. Chen, Guangying Ma

Publication date 4 May 2016

Published in IMA Journal of Mathematical Control and Information (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1093/imamci/dnu024

zbMATH Keywords

adaptive fuzzy controlrobust \(H_\infty\) controlrobot manipulatorstructured and unstructured uncertaintiescomputed-torque control

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Control/observation systems governed by ordinary differential equations (93C15) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Fuzzy control/observation systems (93C42)

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• An adaptive finite‐time stable control law for manipulator robots with unknown parameters
• Combined computed torque and model reference adaptive control of robot systems
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• scientific article; zbMATH DE number 4093315 (Why is no real title available?)
• Composite compensation control of robotic system subject to external disturbance and various actuator faults
• A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach

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