All Outputs (2)

Variable structure adaptive control of robot manipulators (1997)
Journal Article
Yu, H., & Lloyd, S. (1997). Variable structure adaptive control of robot manipulators. IET Control Theory and Applications, 144(2), 167-176. https://doi.org/10.1049/ip-cta%3A19970803

The two main problems with variable-structure control are control input chattering and the assumption of known parameter uncertainty bounds, the second of which is studied. The robustness of a recently proposed variable-structure control approach wit... Read More about Variable structure adaptive control of robot manipulators.

Combined direct and indirect adaptive control of constrained robots (1997)
Journal Article
Yu, H., & Lloyd, S. (1997). Combined direct and indirect adaptive control of constrained robots. International Journal of Control, 68(5), 955-970. https://doi.org/10.1080/002071797223154

The force tracking error is dependent on both the position tracking error and the estimated parameter error so that, in constrained adaptive robot control, the convergence of the estimated parameter error becomes more important than in unconstrained... Read More about Combined direct and indirect adaptive control of constrained robots.