Please use this identifier to cite or link to this item:
|Title:||Adaptive robust control for servo manipulators|
|Citation:||Khoh, C.J., Tan, K.K. (2003-12). Adaptive robust control for servo manipulators. Neural Computing and Applications 12 (3-4) : 178-184. ScholarBank@NUS Repository. https://doi.org/10.1007/s00521-003-0380-1|
|Abstract:||In this paper, an adaptive robust control scheme is developed which is suitable for the control of a class of uncertain nonlinear systems, typical of many servo manipulators. The control scheme is comprised of a model reference adaptive controller (MRAC) augmented with a nonlinear compensator based on an adaptive radial basis function (RBF). The RBF compensator is used to neutralise the effects of uncertain and possibly nonlinear dynamics, so that the equivalent system as seen by the MRAC is reduced to one without significant unstructured modelling errors. A stability analysis is provided to show the uniform stability and the asymptotic tracking capabilities of the proposed control system. Real-time experiment results verify the effectiveness of the control scheme.|
|Source Title:||Neural Computing and Applications|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Oct 15, 2018
WEB OF SCIENCETM
checked on Oct 8, 2018
checked on Sep 22, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.