Computed-torque plus robust adaptive compensation control for robot manipulator with structured and unstructured uncertainties

2014 ◽  
Vol 33 (1) ◽  
pp. 37-52 ◽  
Author(s):  
Yuan Chen ◽  
Guangying Ma ◽  
Shuxia Lin ◽  
Shurong Ning ◽  
Jun Gao
Keyword(s):  
Robot Manipulator ◽  
Adaptive Compensation ◽  
Compensation Control ◽  
Robust Adaptive ◽  
Adaptive Compensation Control ◽  
Computed Torque

Fuzzy Adaptive Compensation Control for Robot Manipulator with Uncertain Dynamics

2012 ◽  
Vol 588-589 ◽  
pp. 1450-1453
Author(s):  
Yuan Chen ◽  
Xiao Peng Tan ◽  
Jun Gao
Keyword(s):  
Adaptive Control ◽  
Robot Manipulator ◽  
Torque Control ◽  
Adaptive Compensation ◽  
Robust Tracking Control ◽  
Uncertain Dynamics ◽  
Modeling Uncertainties ◽  
Control Schemes ◽  
Adaptive Compensation Control ◽  
Computed Torque

This paper proposes two types of adaptive control schemes combined by the conventional computed-torque control and different fuzzy compensators for the robust tracking control of robotic manipulators with structured and unstructured uncertainties. Fuzzy compensators based on feed-forward and feed-back are developed to compensate these modeling uncertainties. The validity of the two types of adaptive control schemes is shown by numerical simulations of a three link rotary robot manipulator.

scholarly journals A New Adaptive Compensation Control for Parametric Systems With Actuator Aging

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 4260-4266 ◽  
Author(s):  
Jianping Cai ◽  
Rui Yu ◽  
Qiuzhen Yan ◽  
Congli Mei ◽  
Lujuan Shen
Keyword(s):  
Adaptive Compensation ◽  
Compensation Control ◽  
Adaptive Compensation Control ◽  
Parametric Systems

Adaptive Compensation Control of Synthetic Jet Actuator Arrays for Airfoil Virtual Shaping

2007 ◽  
Vol 44 (2) ◽  
pp. 616-626 ◽  
Author(s):  
Dipankar Deb ◽  
Gang Tao ◽  
Jason O. Burkholder ◽  
Douglas R. Smith
Keyword(s):  
Synthetic Jet ◽  
Adaptive Compensation ◽  
Synthetic Jet Actuator ◽  
Compensation Control ◽  
Actuator Arrays ◽  
Adaptive Compensation Control
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