PASSIVITY BASED ADAPTIVE-CONTROL FOR MECHANICAL MANIPULATORS USING LS-TYPE ESTIMATION

被引：22

作者：

LEAL, RL ^{[1
]}

DEWIT, CC ^{[1
]}

机构：

[1] ENSIEG,INPG,AUTOMAT GRENOBLE LAB,F-38402 ST MARTIN DHERES,FRANCE

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1990年 / 35卷 / 12期

关键词：

D O I：

10.1109/9.61017

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new adaptive controller for mechanical manipulators is presented. The convergence analysis is based on the passivity properties of the plant and those of the parameter estimation algorithm. Instead of using a gradient type algorithm, as is currently the case in this sort of synthesis approach, a least square type estimation algorithm is proposed. This estimation algorithm is proved to be passive. © 1990 IEEE

引用

页码：1363 / 1365

页数：3

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[9]

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