Hybrid adaptive‐robust control for a robot manipulator | Zendy

Dawson D. M. | Zendy; Qu Z. | Zendy; Lewis F. L. | Zendy

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Hybrid adaptive‐robust control for a robot manipulator

Author(s) -

Dawson D. M.,

Qu Z.,

Lewis F. L.

Publication year - 1992

Publication title -

international journal of adaptive control and signal processing

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.73

H-Index - 66

eISSN - 1099-1115

pISSN - 0890-6327

DOI - 10.1002/acs.4480060603

Subject(s) - control theory (sociology) , controller (irrigation) , adaptive control , robot manipulator , robust control , trajectory , computer science , control engineering , manipulator (device) , robot , engineering , control (management) , control system , artificial intelligence , physics , electrical engineering , astronomy , agronomy , biology

In this paper we present a hybrid adaptive‐robust controller to achieve trajectory following for a robot manipulator. The controller consists of two parts: a proportional‐derivative (PD) feedback loop and an adaptive‐robust law for the manipulator dynamics. An advantage of this method is that our controller takes advantage of the manipulator dynamic structure to allow the designer to select a controller that is a combination of an adaptive approach and a robust‐adaptive approach.

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