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

DOI10.1093/IMAMCI/DNU024zbMath1338.93246OpenAlexW2001764433MaRDI QIDQ2803382

Jun Gao, Guangying Ma, Shurong Ning, Yuan Chen, Shuxia Lin

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 controlrobot manipulatorrobust \(H_\infty\) controlstructured and unstructured uncertaintiescomputed-torque control

Mathematics Subject Classification ID

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

Related Items (2)

An adaptive finite‐time stable control law for manipulator robots with unknown parameters ⋮ The variable-inertia modified computed-torque control of robot manipulators

This page was built for publication: Computed-torque plus robust adaptive compensation control for robot manipulator with structured and unstructured uncertainties