Adaptive output regulation of robot manipulators under actuator constraints

被引：54

作者：

Laib, A ^{[1
]}

机构：

[1] Poste Restante, Oran 31024, Algeria

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2000年 / 16卷 / 01期

关键词：

actuator constraints; adaptive control; asymptotic stability; gradient method; high-pass filter; Lyapunov function; nonlinear function; output regulation; passivity; position measurements; rigid robot; robot manipulators; steady-state errors; update law;

D O I：

10.1109/70.833185

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 considers the global regulation of robot manipulators without velocity measurement and proposes an adaptive controller for the case where the gravity torque presents an uncertainty, The proposed adaptive controller ensures both the semi-global convergence and the convergence of the position error to zero under actuator constraints.

引用

页码：29 / 35

页数：7

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