Robust control design for a planar humanoid robot arm with high strength composite gear and experimental validation
Mechanical Systems and Signal Processing(2021)
摘要
•The algorithm integrating PD feedback and a robust portion is developed.•The uncertainty considered in the system is unknown, time-varying but bounded.•Uniform boundedness and uniform ultimate boundedness are guaranteed theoretically.•The validity of the proposed algorithm is verified by simulations and experiments.
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关键词
Robust control,Uncertainty,Lyapunov method,Trajectory tracking,Humanoid robot arm
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