Robust desired compensation adaptive control of robot manipulators with guaranteed transient performance

@article{Yao1994RobustDC,
  title={Robust desired compensation adaptive control of robot manipulators with guaranteed transient performance},
  author={Bin Yao and Masayoshi Tomizuka},
  journal={Proceedings of the 1994 IEEE International Conference on Robotics and Automation},
  year={1994},
  pages={1830-1836 vol.3}
}
A robust adaptive controller with guaranteed transient performance under a desired compensation adaptation law is developed for trajectory tracking control of robot manipulators in the presence of parametric uncertainties and external disturbances. With some modifications to the conventional adaptation law, a new control law is redesigned by combining the design methodologies of adaptive control and continuous sliding mode control. The suggested controller preserves the advantages of the true… CONTINUE READING

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