Composite Adaptive Control of Robot Manipulators with Friction as Additive Disturbance

Composite Adaptive Control of Robot Manipulators with Friction as Additive Disturbance

In this paper, an adaptive control scheme composed of an estimated feed-forward compensation and a PD control law with three mutually independent estimators is proposed for the tracking of desired trajectories in joint space for a robotic arm. One of the estimators is used to identify inertial and g...

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Bibliographic Details
Main Authors: Daniel Gamez-Herrera, Juan Sifuentes-Mijares, Victor Santibañez, Isaac Gandarilla
Format: Article
Language:English
Published: MDPI AG 2025-05-01
Series:Actuators
Subjects:
adaptive control
robot control
non-linear control
Lyapunov stability
persistently exciting
Online Access:https://www.mdpi.com/2076-0825/14/5/237
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