A robust adaptive control method for manipulators subject to random disturbances

A robust adaptive control method for manipulators is presented, where the physical parameters of manipulators are unknown and the effects of random disturbances are taken into account. The control input is organized by the parts of the adaptive PD input with a parameter update law and the linear fee...

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Bibliographic Details
Published inProceedings of the 36th IEEE Conference on Decision and Control Vol. 1; pp. 817 - 819 vol.1
Main Author Kaneko, J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1997
Subjects
Adaptive control
Error correction
Force control
Force feedback
Linear feedback control systems
Manipulator dynamics
Robot sensing systems
Robust control
Stochastic systems
Torque control
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ISBN0780341872
9780780341876
ISSN0191-2216
DOI10.1109/CDC.1997.653272

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Summary:A robust adaptive control method for manipulators is presented, where the physical parameters of manipulators are unknown and the effects of random disturbances are taken into account. The control input is organized by the parts of the adaptive PD input with a parameter update law and the linear feedback input to compensate the errors of parameter estimation and the effects of random disturbances.
ISBN:0780341872
9780780341876
ISSN:0191-2216
DOI:10.1109/CDC.1997.653272