Robust adaptive control of a robotic manipulator including motor dynamics


An adaptive nonlinear control law that incorporates the manipulator dynamics as well as dynamics of the actuator is developed in this article. The proposed adaptive robust tracking controller requires position measurements only. The controller consists of two parts: a linear observer that generates an estimated error from the error on the joint position… (More)
DOI: 10.1002/(SICI)1097-4563(199811)15:11%3C661::AID-ROB4%3E3.0.CO;2-R


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