https://scholars.lib.ntu.edu.tw/handle/123456789/488945
標題: | Adaptive robust tracking of nonlinear systems and with an application to a robotic manipulator | 作者: | Liao, T.-L. LI-CHEN FU Hsu, C.-F. |
關鍵字: | Adaptive robust control; input-output linearization; variable structure control | 公開日期: | 1990 | 卷: | 15 | 期: | 4 | 起(迄)頁: | 339-348 | 來源出版物: | Systems and Control Letters | 摘要: | The adaptive robust output tracking for a class of nonlinear systems is considered. Based on the input-output linearization technique and the variable structure control strategy, an adaptive control law is developed so that no prior knowledge of the bounds on the plant uncertainties is required. It is shown that the outputs of the closed loop system asymptotically track the given output trajectories despite the uncertainties, and the tracking errors can be made arbitrarily small. The scheme is then applied to the control of a two degree-of-freedom (DOF) robotic manipulator with unknown payload. © 1990. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/488945 https://www.scopus.com/inward/record.uri?eid=2-s2.0-0025516894&doi=10.1016%2f0167-6911%2890%2990107-6&partnerID=40&md5=8aceefb1d2d3383fe9d7dba9f726eb69 |
ISSN: | 01676911 | DOI: | 10.1016/0167-6911(90)90107-6 | SDG/關鍵字: | Control Systems, Adaptive - Robustness; Robots - Manipulators; Tracking; Two Degree of Freedom Manipulators; Control Systems, Nonlinear |
顯示於: | 資訊工程學系 |
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