Adaptive tracking control for robot manipulator

DOI10.1080/00207720412331297938zbMath1066.93037OpenAlexW1974863034MaRDI QIDQ4653193

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Publication date: 7 March 2005

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207720412331297938

zbMATH Keywords

uncertaintyLyapunov stability analysisstate feedback controlleradaptive control systemfeedforward controllerproportional-integral-derivative controllercomputer simulations of a three-link SCARA robot manipulatordynamic model of \(n\)-link robot manipulatoron-line tuning algorithmssystem tracking stabilityuncertainty alleviator

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Robot dynamics and control of rigid bodies (70E60)

Related Items (1)

Adaptive control with optimal tracking performance

Cites Work

• Automatic tuning of simple regulators with specifications on phase and amplitude margins
• Self-tuning control of a fixed-bed chemical reactor system

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