Robust composite nonlinear feedback control for uncertain robot manipulators
2020 ◽
Vol 17
(2)
◽
pp. 172988142091480
Keyword(s):
On the basis of the classical computed torque control method, a new composite nonlinear feedback design method for robot manipulators with uncertainty is presented. The resulting controller consists of the composite nonlinear feedback control and robust control. The core is to use the robust control for online approximation of the system’s uncertainty as a compensation term for the composite nonlinear feedback controller. The design method of the new controller is given, and the convergence of the closed-loop system is proved. The simulation results show that the proposed scheme can make the uncertain robot system have strong robustness and anti-interference ability.
2016 ◽
Vol 39
(3)
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pp. 352-360
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2005 ◽
Vol 2
(1)
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pp. 81-90
2014 ◽
Vol 12
(2)
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pp. 139-146
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2004 ◽
Vol 14
(05)
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pp. 1671-1681
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2018 ◽
Vol 26
(5)
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pp. 1732-1743
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