Combined computed torque and model reference adaptive control of robot systems
type: Item
instance of: scholarly article
title: Combined computed torque and model reference adaptive control of robot systems
zbMATH Open document ID: 0707.93039
DOI: 10.1016/0016-0032(90)90022-B
author: Spyros G. Tzafestas
author: Leonidas Dritsas
published in: Journal of the Franklin Institute
publication date: 1990-01-01T00:00:00Z
review text: A new robust technique for robot control is presented which is based on a combination of the feedback computed torque method with the model reference adaptive control algorithm. The resulting controller guarantees perfect tracking for all bounded uncertainties if the correct state vector is available for feedback. The results are illustrated by a double link manipulator computational example.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C10
zbMATH DE Number: 4162758
zbMATH Keywords: robust technique
zbMATH Keywords: robot control
zbMATH Keywords: feedback computed torque method
zbMATH Keywords: model reference adaptive control algorithm
zbMATH Keywords: perfect tracking
zbMATH Keywords: bounded uncertainties
zbMATH Keywords: double link manipulator
reviewed by: Mihail Megan
MaRDI profile type: Publication
cites work: Q3931079
cites work: Model reference adaptive control algorithms for industrial robots
cites work: Robust nonlinear feedback control for robotic manipulators
cites work: Robust model tracking control for a class of nonlinear plants
cites work: Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
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description: scientific article; zbMATH DE number 4162758