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Position Control of Robots by Nonlinearity Estimation and Compensation: Theory and Experiments

✍ Scribed by R. Hu; P. C. Müller

Book ID
110256089
Publisher
Springer Netherlands
Year
1997
Tongue
English
Weight
407 KB
Volume
20
Category
Article
ISSN
0921-0296

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A simple linear adaptive controller based on a reduced-order observer is proposed to treat the trajectory tracking control problem of robotic systems with unknown parameters and external disturbances. The novelty of our result lies in the fact that the controller is a linear time-varying dynamic pos