Author:
Dixon W.E.,de Queiroz M.S.,Zhang F.,Dawson D.M.
Abstract
This paper examines the problem of link position tracking control of robot manipulators with bounded torque inputs. An adaptive, full-state feedback controller and
an exact model knowledge, output feedback controller are designed to produce semi-global asymptotic link position tracking errors. Simulation results are provided to validate the theoretical concepts, and a comparative analysis demonstrates the benefits of the proposed controllers.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
67 articles.
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