Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances

Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances

An adaptive robust quadratic stabilization tracking controller with hybrid scheme is proposed for robotic system with uncertainties and external disturbances. The hybrid scheme combines computed torque controller (CTC) with an adaptive robust compensator, in which variable structure control (VSC) an...

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Bibliographic Details
Main Authors:	Jinzhu Peng, Yan Liu
Format:	Article
Language:	English
Published:	Hindawi Limited 2014-01-01
Series:	Journal of Control Science and Engineering
Online Access:	http://dx.doi.org/10.1155/2014/715250

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