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Robust adaptive tracking control of robotic systems with uncertainties

โœ Scribed by Yaonan Wang; Jinzhu Peng; Wei Sun; Hongshan Yu; Hui Zhang

Book ID
107504647
Publisher
South China University of Technology and Academy of Mathematics and Systems Science, CAS
Year
2008
Tongue
English
Weight
357 KB
Volume
6
Category
Article
ISSN
1672-6340

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This paper, presents a robust adaptive control method for a class of nonlinear non-minimum phase systems with uncertainties. The development of the control method comprises two steps. First, stabilization of the system is considered based on the availability of the output and internal dynamics of th