An adaptive robust tracking control for robot manipulator

被引：0
|
作者：
Wang, Yaonan [1 ]
Peng, Jinzhu [1 ]
机构：
[1] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Peoples R China
来源：
ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2 | 2008年 / 6794卷
关键词：
adaptive control; Lyapunov stability; robot tracking control;
D O I：
暂无
中图分类号：
TP31 [计算机软件];
学科分类号：
081202 ; 0835 ;
摘要：
In this paper, the problem of an adaptive tracking robust control for robot manipulator is studied. The proposed controller always guarantees closed-loop stability, and the stability of the proposed controller is proven by Lyapunov method. The proposed controller can easily be implemented, and the tracking error and adaptation parameter error are uniformly ultimately bounded. Finally, a simulation illustrates the performance of the scheme.
引用
收藏
页码：U46 / U51
页数：6
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