Demonstrates hybrid adaptive-robust control enhancing trajectory following in robot manipulators, indicating improved performance.
In this paper we present a hybrid adaptive-robust controller to achieve trajectory following for a robot manipulator. The controller consists of two parts: a proportional-derivative (PD) feedback loop and an adaptive-robust law for the manipulator dynamics. An advantage of this method is that our controller takes advantage of the manipulator dynamic structure to allow the designer to select a controller that is a combination of an adaptive approach and a robust-adaptive approach.
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