Affiliation:
1. Shandong University at Weihai
2. Yantai Engineering and Technology College
Abstract
This paper proposes two types of adaptive control schemes combined by the conventional computed-torque control and different fuzzy compensators for the robust tracking control of robotic manipulators with structured and unstructured uncertainties. Fuzzy compensators based on feed-forward and feed-back are developed to compensate these modeling uncertainties. The validity of the two types of adaptive control schemes is shown by numerical simulations of a three link rotary robot manipulator.
Publisher
Trans Tech Publications, Ltd.
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1 articles.
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