On Robust Adaptive PD Control of Robot Manipulators
In this study, an adaptive proportional-derivative (PD) control scheme is proposed for trajectory tracking of multi-degree-of-freedom robot manipulators in the presence of model uncertainties and external disturbances whose upper bounds are unknown but bounded. The developed controller takes the adv...
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| Format: | Article |
| Language: | English |
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Shahid Chamran University of Ahvaz
2020-12-01
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| Series: | Journal of Applied and Computational Mechanics |
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| Online Access: | https://jacm.scu.ac.ir/article_16136_ad2eb488b37941d441b97f4e3e3ec071.pdf |