ADAPTIVE-CONTROL OF ROBOT MANIPULATOR MOTION

被引：50

作者：

JOHANSSON, R

机构：

[1] Department of Automatic Control, Lund Institute of Technology, Lund

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1990年 / 6卷 / 04期

关键词：

Adaptive control; L2-stability; Lyapunov stability; rapid parameter estimation; robot control;

D O I：

10.1109/70.59359

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents algorithms for continuous-time direct adaptive control of robot manipulators. Lyapunov theory is used for controller design and stability investigation. Algorithms for rapid continuous-time adaptive control are presented. © 1990 IEEE

引用

页码：483 / 490

页数：8

共 23 条

[1]

Arimoto S., 1984, ROBOTICS RES

[2]

Astrom K.J., 2013, ADAPTIVE CONTROL

[3] CONTROL OF CONSTRAINED SYSTEMS OF CONTROLLABILITY INDEX-2 [J].

CERANOWICZ, AZ ;

WYMAN, BF ;

HEMAMI, H .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1980, 25 (06) :1102-1111

[4]

CHAE HA, 1985, 24TH P IEEE C DEC CO

[5] ADAPTIVE-CONTROL OF MECHANICAL MANIPULATORS [J].

CRAIG, JJ ;

HSU, P ;

SASTRY, SS .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1987, 6 (02) :16-28

[6]

CRAIG JJ, 1986, INTRO ROBOTICS MECH, pCH6

[7]

GOODWIN GC, 1984, ADAPTIVE FILTERING P, pCH6

[8]

HAHN W, 1967, STABILITY MOTION, pCH4

[9] PARAMETRIC MODELS OF LINEAR-MULTIVARIABLE SYSTEMS FOR ADAPTIVE-CONTROL [J].

JOHANSSON, R .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1987, 32 (04) :303-313

[10]

JOHANSSON R, 1986, 25TH P IEEE CDC ATH

← 1 2 3 →