An Adaptive Control Scheme for Mechanical Manipulators—Compensation of Nonlinearity and Decoupling Control

DOI10.1115/1.3143754zbMath0603.93033OpenAlexW2166364148MaRDI QIDQ3741519

Roberto Horowitz, Masayoshi Tomizuka

Publication date: 1986

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3143754

zbMATH Keywords

decouplingadaptive control schememechanical manipulatorsnonlinear compensator

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Adaptive control/observation systems (93C40) Popov-type stability of feedback systems (93D10) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (7)

Intelligent control of dynamic systems ⋮ Contribution to the indirect decentralized adaptive control of manipulation robots ⋮ Ultimate boundedness control of uncertain robotic systems ⋮ New approach to control and filtering of mechanical systems by using the estimates of their Lagrangians ⋮ New class of control laws for robotic manipulators Part 2. Adaptive case ⋮ An error-learning neural network for the tuning of robot dynamic models ⋮ A solution for the cooperative formation-tracking problem in a network of completely unknown nonlinear dynamic systems without relative position information

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