• DocumentCode
    2672110
  • Title

    Robustness analysis for robust-adaptive output-feedback tracking control for robot manipulators

  • Author

    Chunqing, Huang ; Xiafu, Peng

  • Author_Institution
    Dept. of Autom., Xiamen Univ., Xiamen
  • fYear
    2008
  • fDate
    16-18 July 2008
  • Firstpage
    788
  • Lastpage
    792
  • Abstract
    Output feedback of new robust-adaptive tracking control algorithm is proposed in this paper for robot manipulators and its robustness is analyzed simultaneously. This robust-adaptive approach can be received as the extension of the conventional adaptive scheme since the mapped estimated-parameters instead of estimator output are applied to controllers.
  • Keywords
    adaptive control; feedback; manipulators; path planning; robust control; mapped estimated-parameters; robot manipulators; robust-adaptive output-feedback tracking control; robustness analysis; Adaptive control; Algorithm design and analysis; Error correction; Manipulator dynamics; Output feedback; Parameter estimation; Robot control; Robotics and automation; Robust control; Stability; Lp input/output stable; Output feedback; Robot manipulator; Robust-adaptive;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference, 2008. CCC 2008. 27th Chinese
  • Conference_Location
    Kunming
  • Print_ISBN
    978-7-900719-70-6
  • Electronic_ISBN
    978-7-900719-70-6
  • Type

    conf

  • DOI
    10.1109/CHICC.2008.4605855
  • Filename
    4605855
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2672110