Enhanced Robust Motion Control based on Unknown System Dynamics Estimator for Robot Manipulators
Xinyu Jia,Jun Yang,Kaixin Lu,Yongping Pan,Haoyong Yu,Xinyu Jia,Jun Yang,Kaixin Lu,Yongping Pan,Haoyong Yu
To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics estimator (USDE) to estimate disturbances without requiring acceleration signals and the inverse of inertia matrix. Then, based on the USDE framework, an adapt...
