Robust composite nonlinear feedback control for uncertain robot manipulators

On the basis of the classical computed torque control method, a new composite nonlinear feedback design method for robot manipulators with uncertainty is presented. The resulting controller consists of the composite nonlinear feedback control and robust control. The core is to use the robust control...

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Bibliographic Details
Main Authors: Yuan Jiang, Ke Lu, Chenglong Gong, Hao Liang
Format: Article
Language:English
Published: SAGE Publishing 2020-04-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881420914805