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Experimental evaluation of adaptive and robust schemes for robot manipulator control

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2 Author(s)
Kyunghwan Kim ; Dept. of Electr. Eng., Tokyo Univ., Japan ; Hori, Y.

Adaptive and robust control schemes are compared in tracking control of a robot manipulator. In adaptive control, we classify the adaptive control laws into three types and then investigate their tracking performances by experiment. In robust control, a two degree of freedom controller is examined. We demonstrate its strong disturbance rejection performance and robustness to parameter variation. Finally, we consider the advantages of both of the control schemes

Published in:

Industrial Electronics, Control, and Instrumentation, 1995., Proceedings of the 1995 IEEE IECON 21st International Conference on  (Volume:2 )

Date of Conference:

6-10 Nov 1995