Experimental evaluation of adaptive and robust schemes for robotmanipulator control

摘要

Adaptive and robust control schemes are compared in trackingcontrol of a robot manipulator. In adaptive control, we classify theadaptive control laws into three types and then investigate theirtracking performances by experiment. In robust control, a two degree offreedom controller is examined. We demonstrate its strong disturbancerejection performance and robustness to parameter variation. Finally, weconsider the advantages of both of the control schemes