Model reference adaptive inverse control of a single link flexible robot

Wu, Sijun; Cetinkunt, Sabri

doi:10.1016/0045-7949(93)90369-o

Cited by 3 publications

(2 citation statements)

References 21 publications

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“…This takes place regardless of the large variations in payload mases, link masses, coefficients of friction and disturbances. In our case, the validity of expression (19) stems from the fact that the matrix C(q, (1) of (2) is a linear function of q and so is Co(q, (1). Thus it follows that the term C(q, (1)X 2 appearing in (17) is quadratically dependent on the error e via (3) and (14).…”

Section: A Hyperstable Controllermentioning

confidence: 97%

“…The problem of trajectory tracking control design for robot manipulators has been the subject of extensive research effort over the last decade; [1][2][3][4][5][6][7][8][9][10][11][12]19] and their bibliographies. Many controller structures have been proposed and shown to have acceptable performance by simulation or experimental implementation [5,6].…”

Section: Introductionmentioning

confidence: 99%

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A robust control scheme for asymptotic tracking of robot motion

Mahmoud

Kotob

1995

J Intell Robot Syst

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Abstract. In this paper, a controller structure is developed to provide for asymptotic tracking of robot motion. The design tool is the theory of hyperstability and the analysis has led to a simple and an easy-to-implement robust version of the inverse dynamics. Simulation studies are worked out to demonstrate the controller performance. A comparison with other methods is done to show the merits of the developed scheme vs. other recently developed schemes. The implementation and computational requirements of the control schemes are determined and shown to be within the capabilities of new control hardware.

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Section: A Hyperstable Controllermentioning

confidence: 97%