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contributor authorY. H. Chen
date accessioned2017-05-08T23:35:05Z
date available2017-05-08T23:35:05Z
date copyrightJune, 1991
date issued1991
identifier issn0022-0434
identifier otherJDSMAA-26168#324_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/108306
description abstractWe consider the tracking control problem of mechanical manipulators in the presence of uncertainty. Two classes of control algorithms are proposed. If the possible bound of the uncertainty is known, a class of nonadaptive robust computed torque control schemes is used. The control guarantees the tracking error to be confined within a specified region after a finite time. If the bound of uncertainty is unknown, a class of adaptive robust computed torque control schemes is used. The control guarantees the tracking error to converge to zero. Both classes of controls are continuous. No statistical information on the uncertainty is ever assumed.
publisherThe American Society of Mechanical Engineers (ASME)
titleRobust Computed Torque Schemes for Mechanical Manipulators: Nonadaptive Versus Adaptive
typeJournal Paper
journal volume113
journal issue2
journal titleJournal of Dynamic Systems, Measurement, and Control
identifier doi10.1115/1.2896385
journal fristpage324
journal lastpage327
identifier eissn1528-9028
keywordsManipulators
keywordsTorque
keywordsUncertainty
keywordsErrors
keywordsTorque control
keywordsTracking control AND Control algorithms
treeJournal of Dynamic Systems, Measurement, and Control:;1991:;volume( 113 ):;issue: 002
contenttypeFulltext


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