Adaptive Robust Model-Following Control and Application to Robot Manipulators

[+] Author and Article Information
Y. H. Chen

Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, N.Y. 13244

J. Dyn. Sys., Meas., Control 109(3), 209-215 (Sep 01, 1987) (7 pages) doi:10.1115/1.3143846 History: Received January 01, 1986; Online July 21, 2009


The model-following control problem for nonlinear uncertain dynamical systems is considered. Based only on the knowledge of functional properties relating to the bound of the time-varying uncertainty, a class of adaptive feedback controls is developed which, under some realistic assumptions, guarantees the error between the uncertain dynamical system and the model tends to be zero. Application to robotic manipulators is made.

Copyright © 1987 by ASME
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