Robust Adaptive Tracking Control of a Class of Robot Manipulators with Model Uncertainties
A robust tracking controller for robot manipulators measuring only the angular positions and considering model uncertainties is presented. It is considered that the model is uncertain; that is, the system parameters, nonlinear terms, external perturbations, and the friction effects in each robot joi...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2012-01-01
|
| Series: | Modelling and Simulation in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2012/271705 |