Adaptive Robust Model-Following Control and Application to Robot ManipulatorsSource: Journal of Dynamic Systems, Measurement, and Control:;1987:;volume( 109 ):;issue: 003::page 209Author:Y. H. Chen
DOI: 10.1115/1.3143846Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The model-following control problem for nonlinear uncertain dynamical systems is considered. Based only on the knowledge of functional properties relating to the bound of the time-varying uncertainty, a class of adaptive feedback controls is developed which, under some realistic assumptions, guarantees the error between the uncertain dynamical system and the model tends to be zero. Application to robotic manipulators is made.
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contributor author | Y. H. Chen | |
date accessioned | 2017-05-08T23:24:31Z | |
date available | 2017-05-08T23:24:31Z | |
date copyright | September, 1987 | |
date issued | 1987 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26099#209_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/102308 | |
description abstract | The model-following control problem for nonlinear uncertain dynamical systems is considered. Based only on the knowledge of functional properties relating to the bound of the time-varying uncertainty, a class of adaptive feedback controls is developed which, under some realistic assumptions, guarantees the error between the uncertain dynamical system and the model tends to be zero. Application to robotic manipulators is made. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Adaptive Robust Model-Following Control and Application to Robot Manipulators | |
type | Journal Paper | |
journal volume | 109 | |
journal issue | 3 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.3143846 | |
journal fristpage | 209 | |
journal lastpage | 215 | |
identifier eissn | 1528-9028 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;1987:;volume( 109 ):;issue: 003 | |
contenttype | Fulltext |