Decentralized robust adaptive control for a class of robot manipulators with uncertainties

被引：0

作者：

Chen Wei-dong ^{[1
]}

Chen Li ^{[1
]}

Wang Hong-rui ^{[1
]}

机构：

[1] Yanshan Univ, Inst Elect Engn, Qinhuangdao 066004, Peoples R China

来源：

Proceedings of 2004 Chinese Control and Decision Conference | 2004年

关键词：

robust control; adaptive control; robot; decentralized control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A decentralized robust adaptive control strategy for trajectory tracking of robot manipulators with uncertainties is proposed. The controller has a simple structure that makes up of PD and nolinear feedback, and only requires the output states of each joint. Detailed description of the model is avoided. The oriesand simulations show that uncertain effects such as frictions and external disturbance can be overcome and global asymptotic stability can be warranted.

引用

页码：883 / +

页数：4