Decentralized adaptive robust control of robot manipulators using disturbance observers

IEEE Transactions on Control Systems Technology

Volumn 20, Issue 5, 2012, Pages 1357-1365

  Yang, Zi Jiang ^a   Fukushima, Youichirou ^b   Qin, Pan ^b  

^a IBARAKI UNIVERSITY   (Japan)

^b KYUSHU UNIVERSITY   (Japan)

Author keywords

Adaptive control; decentralized control; disturbance observer; nonlinear control; robot manipulators

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE ROBUST CONTROL; ADAPTIVE ROBUST CONTROLLERS; ADAPTIVE SLIDING MODE CONTROL; BOUNDEDNESS; CONTROL PERFORMANCE; DISTURBANCE OBSERVER; LINEAR CONTROL THEORY; LOCAL CONTROLLERS; LOCAL SUBSYSTEM; NON LINEAR CONTROL; NONLINEAR DAMPING; PASS BANDS; ROBOT MANIPULATOR; THEORETICAL RESULT; TRAJECTORY TRACKING;

CONTROLLERS; DECENTRALIZED CONTROL; INDUSTRIAL ROBOTS; LINEAR CONTROL SYSTEMS; MODULAR ROBOTS; ROBOT APPLICATIONS; ROBUST CONTROL; SLIDING MODE CONTROL;

FLEXIBLE MANIPULATORS;

EID: 84863506113     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2011.2164076     Document Type: Article

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