ADAPTIVE-CONTROL OF ROBOT MANIPULATORS BASED ON PASSIVITY

被引：45

作者：

TANG, Y

ARTEAGA, MA

机构：

[1] National University of Mexico, DEPFI-UNAM, 04510, D.F.

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1994年 / 39卷 / 09期

关键词：

D O I：

10.1109/9.317115

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 adaptation algorithm is presented for adaptive control of robot manipulators. The passivity property of the proposed algorithm is first established, then the stability is proved based on the passivity properties of the plant and those of the proposed algorithm. Because of the use of the past information and averaging effect, this algorithm gives a smoother tracking and parameter error and a parameter convergence under a weaker excitation condition.

引用

页码：1871 / 1875

页数：5

共 9 条

[1]

Brogliato B., 1991, International Journal of Robust and Nonlinear Control, V1, P187, DOI 10.1002/rnc.4590010305

[2] PARAMETER INFORMATION-CONTENT OF MEASURABLE SIGNALS IN DIRECT ADAPTIVE-CONTROL [J].