Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 14, issue 2
Articles | Volume 14, issue 2
https://doi.org/10.5194/ms-14-293-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-293-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 14, issue 2
Research article
 | 
25 Jul 2023
Research article |  | 25 Jul 2023

Robust trajectory tracking control for collaborative robots based on learning feedback gain self-adjustment

Xiaoxiao Liu and Mengyuan Chen

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Short summary
Considering its practical engineering applications, a proportional-derivative-based robust controller is designed and applied to a nonlinear robotic system with uncertainty. With error- and model-based features, accurate position tracking can be achieved. The control feedback gain is automatically and iteratively adjusted by learning so that the desired performance of the system is optimized.
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