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TECHNICAL BRIEFS

Robust Computed Torque Schemes for Mechanical Manipulators: Nonadaptive Versus Adaptive

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

The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332

J. Dyn. Sys., Meas., Control 113(2), 324-327 (Jun 01, 1991) (4 pages) doi:10.1115/1.2896385 History: Received September 01, 1989; Revised June 01, 1990; Online March 17, 2008

Abstract

We consider the tracking control problem of mechanical manipulators in the presence of uncertainty. Two classes of control algorithms are proposed. If the possible bound of the uncertainty is known, a class of nonadaptive robust computed torque control schemes is used. The control guarantees the tracking error to be confined within a specified region after a finite time. If the bound of uncertainty is unknown, a class of adaptive robust computed torque control schemes is used. The control guarantees the tracking error to converge to zero. Both classes of controls are continuous. No statistical information on the uncertainty is ever assumed.

Copyright © 1991 by The American Society of Mechanical Engineers
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