Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators
We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2008-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2008/520591 |