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Proceedings Paper

An adaptive robust tracking control for robot manipulator
Author(s): Yaonan Wang; Jinzhu Peng
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Paper Abstract

In this paper, the problem of an adaptive tracking robust control for robot manipulator is studied. The proposed controller always guarantees closed-loop stability, and the stability of the proposed controller is proven by Lyapunov method. The proposed controller can easily be implemented, and the tracking error and adaptation parameter error are uniformly ultimately bounded. Finally, a simulation illustrates the performance of the scheme.

Paper Details

Date Published: 7 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679409 (7 January 2008); doi: 10.1117/12.784149
Show Author Affiliations
Yaonan Wang, Hunan Univ. (China)
Jinzhu Peng, Hunan Univ. (China)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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