Composite Control of Nonlinear Robotic System With Exogenous Disturbance
نویسندگان
چکیده
منابع مشابه
Disturbance Observer-based Trajectory following Control of Nonlinear Robotic Manipulators
Robotic manipulators are highly nonlinear and coupled dynamic systems, which may be subject to different types of unknown disturbances such as joint frictions and end-effector external payloads. Such disturbances, when unaccounted for, cause poor tracking performance of the robot and may even destabilize the robot control system. In this paper we propose a novel nonlinear control scheme for rob...
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2019
ISSN: 2169-3536
DOI: 10.1109/access.2019.2896168