IEEE - Institute of Electrical and Electronics Engineers, Inc. - Adaptive motion control of a two-link direct drive manipulator using disturbance observer

IEEE TENCOM'02. 2002 IEEE Region 10 Conference on Computer, Communications, Control and Power Engineering

Author(s): P. Ratiroch-Anant ; M. Anabuki ; H. Hirata
Sponsor(s): IEEE Region 10
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2002
Conference Location: Beijing, China, China
Conference Date: 28 October 2002
Volume: 3
Page Count: 4
ISBN (Paper): 0-7803-7490-8
DOI: 10.1109/TENCON.2002.1182667
Regular:

The proposed system is realized by appending the disturbance observer to the type-2 servo in order to reduce the tracking error of trajectory control. Furthermore, the adaptive control is applied... View More

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