Adaptive robust tracking of nonlinear systems and with an application to a robotic manipulator

Teh Lu Liao, Li Chen Fu, Chen Fa Hsu

研究成果: Conference article同行評審

摘要

Based on the input-output linearization technique and the variable structure control strategy, an adaptive control law is developed so that no prior knowledge of the bounds on the plant uncertainties is required. It is shown that the outputs of the closed-loop system asymptotically track the given output trajectories despite the uncertainties, and that the tracking errors can be made arbitrarily small. The scheme is then applied to the control of a two-degree-of-freedom robotic manipulator with unknown payload. Simulation results indicate that the controller is robust with respect to uncertainties.

原文English
頁(從 - 到)3130-3131
頁數2
期刊Proceedings of the IEEE Conference on Decision and Control
6
出版狀態Published - 1990 十二月 1
事件Proceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA
持續時間: 1990 十二月 51990 十二月 7

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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