On Feedback Linearization of Robot Manipulators and Riemannian Curvature

1998 ◽  
pp. 185-202 ◽  
Author(s):  
Mark W. Spong
Keyword(s):  
Feedback Linearization ◽  
Robot Manipulators ◽  
Riemannian Curvature

Feedback linearization of robot manipulators and riemannian curvature

1995 ◽  
Vol 12 (8) ◽  
pp. 541-552 ◽  
Author(s):  
Nazareth S. Bedrossian ◽  
Mark W. Spong
Keyword(s):  
Feedback Linearization ◽  
Robot Manipulators ◽  
Riemannian Curvature

A New Adaptive Control Approach for Robot Manipulators

1992 ◽  
Author(s):  
Jingsheng Ye
Keyword(s):  
Adaptive Control ◽  
Feedback Linearization ◽  
Robot Manipulators ◽  
Linearization Method ◽  
Dynamic Equations ◽  
Unknown Parameters ◽  
Control Approach ◽  
Highly Nonlinear ◽  
Hyperstability Theory ◽  
Model Reference Adaptive

Abstract Dynamic equations of robot manipulators are highly nonlinear with time-varying and unknown parameters. Using the model reference adaptive control (MRAC) technique, a control scheme based on hyperstability theory is developed for robot manipulators. A new adaptive algorithm is proposed for compensating the nonlinear term in the dynamic equations and for decoupling the dynamic interaction among the joints. The main feature of the approach is that the unknown parameters are not estimated separately, but the total influences due to the modeling errors and the disturbances can be directly compensated. Simulations show good results even for large variations of parameters. A comparison of this approach with the feedback linearization method (FLM) is also presented.

Comments on 'An adaptive control scheme for robot manipulators'

1989 ◽  
Vol 49 (5) ◽  
pp. 1805-1809
Author(s):  
Yong-Duan Song ◽  
Wei-Bing Gao
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Control Scheme ◽  
Adaptive Control Scheme

Combined Sliding Mode Control with a Feedback Linearization for Speed Control of Induction Motor

2011 ◽  
Vol 7 (1) ◽  
pp. 19-24
Author(s):  
Aamir Hashim Obeid Ahmed ◽  
Martino O. Ajangnay ◽  
Shamboul A. Mohamed ◽  
Matthew W. Dunnigan
Keyword(s):  
Sliding Mode Control ◽  
Induction Motor ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Speed Control ◽  
Mode Control
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