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Open AccessTutorial

A Tutorial on Robust Control, Adaptive Control and Robust Adaptive Control—Application to Robotic Manipulators

by Bin Wei
Lassonde School of Engineering, York University, 4700 Keele Street, Toronto, ON M3J 1P3, Canada
Inventions 2019, 4(3), 49; https://doi.org/10.3390/inventions4030049
Received: 4 July 2019 / Revised: 7 August 2019 / Accepted: 20 August 2019 / Published: 23 August 2019
(This article belongs to the Special Issue Automatic Control and System Theory)
A tutorial on robust control, adaptive control, robust adaptive control and adaptive control of robotic manipulators is presented in a systematic manner. Some limitations of the above methods are also illustrated. The relationships between the robust control, adaptive control and robust adaptive control are demonstrated. Basic information on the joint space control, operational space control and force control is also given. This tutorial summarizes the most advanced control techniques currently in use in a very simple manner, and applies to robotic manipulators, which can provide an informative guideline for students who have little knowledge of controls or who want to understand the adaptive control of robotics in a systematic way. View Full-Text
Keywords: robust control; adaptive control; robust adaptive control; robotic manipulator; PD control; friction robust control; adaptive control; robust adaptive control; robotic manipulator; PD control; friction
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Wei, B. A Tutorial on Robust Control, Adaptive Control and Robust Adaptive Control—Application to Robotic Manipulators. Inventions 2019, 4, 49.

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