@inproceedings{83901d1b0f7046d6a6ff66364c764bba,
title = "Self-adaptive robust control of joint robots for modeling error",
abstract = "For joint robot system contains inevitable model error in the modeling process, an effective method is proposed for self-adaptive stability control in this paper. After building the robot dynamics model, error factors are analyzed in the model. Based on robust control theory, an improved self-adaptive PID controller is designed and its Lyapunov stability is verified. Finally, by simulation for a two-link manipulator, the result which shows the control method has well efficiency and practicality for robust stability control. The results will be significant for the precise control of the robot system.",
keywords = "Modeling errors, Robust, Self-adaptive, Stability",
author = "Peng Su and Yang Yang",
year = "2013",
doi = "10.4028/www.scientific.net/AMM.422.226",
language = "英语",
isbn = "9783037858851",
series = "Applied Mechanics and Materials",
pages = "226--231",
booktitle = "Information Engineering for Mechanics and Materials Research",
note = "International Conference on Information Engineering for Mechanics and Materials, ICIMM 2013 ; Conference date: 05-07-2013 Through 07-07-2013",
}