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Application of Logarithmic-based Parameter and Upper Bounding Estimation Rules to Adaptive-Robust Control of Robot Manipulators

โœ Scribed by Burkan, Recep; Uzmay, Ibrahim

Book ID
121267751
Publisher
The European Union Control Association
Year
2006
Tongue
English
Weight
442 KB
Volume
12
Category
Article
ISSN
0947-3580

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โœ Recep Burkan; ฤฐbrahim Uzmay ๐Ÿ“‚ Article ๐Ÿ“… 2003 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 143 KB

In this paper, a new robust control law is presented for robot manipulators subjected to uncertainties. Stability of the system is established by the Lyapunov function, and a control law that guaranteed the system stability is derived as a result of analytical solution. Apart from previous studies,