Adaptive robust tracking of nonlinear systems and with an application to a robotic manipulator
Journal
Systems and Control Letters
Journal Volume
15
Journal Issue
4
Pages
339-348
Date Issued
1990
Author(s)
Abstract
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.
Subjects
Adaptive robust control; input-output linearization; variable structure control
Other Subjects
Control Systems, Adaptive - Robustness; Robots - Manipulators; Tracking; Two Degree of Freedom Manipulators; Control Systems, Nonlinear
Type
journal article