A new robust composite adaptive approach to the control of rigid robots which guarantees finite error convergence time.

• Autorzy: Barambones O. , Etxebarria V.
• Języki publikacji: EN

Abstrakty

EN

In this paper a new robust adaptive control scheme for robotic manipulators is presented. The design consists of: 1) a composite adaptive controller, driven by both the tracking and the prediction errors, for learning the modelled dynamics; and 2) a nonlinear sliding mode control law that overcomes the unmodelled dynamics and noise. As a whole, the closed-loop system is proved to be stable and it is shown that the tracking error converges to zero in finite time.

Słowa kluczowe

EN

rigid robots; robotic manipulators; adaptive control; tracking; nonlinear control systems; sliding mode control; closed-loop system; dynamics; robust control

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2000
• Tom: Vol. 26, nr 3
• Strony: 69--81
• Opis fizyczny: Bibliogr. 16 poz.,

Twórcy

autor

Barambones O.

autor

Etxebarria V.

• Dpto. Ingenieria de Sistemas y Automatica, Pais Vasco Univ., Bilbao, Spain.