Robust high-performance control for robotic manipulators
作者： H. Seraji
DOI: 10.1109/ROBOT.1989.100215
关键词: Robot 、 Robust control 、 Open-loop controller 、 Control theory 、 Artificial intelligence 、 Robot control 、 Robotics 、 Engineering 、 Feed forward 、 Control engineering 、 Robustness (computer science) 、 Adaptive control
摘要: A robust control scheme to accomplish accurate trajectory tracking for an integrated system of manipulator-plus-actuators is proposed. The comprises a feedforward and feedback controller. controller contains any known part the manipulator dynamics that can be used online control. consists adaptive position velocity gains auxiliary signal which simply generated by fixed-gain proportional/integral/derivative updated very simple adaptation laws contain both proportional integral terms. By introduction sigma modification laws, robustness guaranteed in presence unmodeled disturbances. >
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