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Adaptive hybrid control strategies for constrained robots

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2 Author(s)
Jone Hann Jean ; Dept. of Electr. Eng., Nat. Taiwan Univ., Taiwan ; Li-Chen Fu

The problem of adaptive hybrid controller design for constrained roots with the consideration of computational efficiency is addressed. Two efficient control schemes based, respectively, on Lagrange and Newton-Euler dynamics formulation are presented. Detailed analyses on tracking properties of joint positions, velocities, and constrained forces are derived for both the Lagrange approach and the Newton-Euler approach. Although control laws in these two approaches are developed independently, a tight connection between them is found, indicating a possible bridge between general adaptive approaches based, respectively, on the two dynamics formulations

Published in:

IEEE Transactions on Automatic Control  (Volume:38 ,  Issue: 4 )