Combined computed torque and model reference adaptive control of robot systems

DOI10.1016/0016-0032(90)90022-BzbMath0707.93039MaRDI QIDQ920069

Spyros G. Tzafestas, Leonidas Dritsas

Publication date: 1990

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

zbMATH Keywords

robot controlperfect trackingbounded uncertaintiesdouble link manipulatorfeedback computed torque methodmodel reference adaptive control algorithmrobust technique

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Unnamed Item
• Model reference adaptive control algorithms for industrial robots
• Robust model tracking control for a class of nonlinear plants
• Robust nonlinear feedback control for robotic manipulators
• Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems

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