Adaptive control of robots with an improved transient performance

被引：31

作者：

Arteaga, MA ^{[1
]}

Tang, Y ^{[1
]}

机构：

[1] Univ Nacl Autonoma Mexico, DEPFI, Sec Elect, Mexico City 04510, DF, Mexico

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2002年 / 47卷 / 07期

关键词：

adaptive control; robot manipulators; transient performance;

D O I：

10.1109/TAC.2002.800672

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

By using a robust control technique, this note proposes an adaptive control for rigid robots with the following Important features: under a parameter-dependent persistent excitation (PE) condition, it gives a guaranteed transient performance of tracking a smooth desired trajectory while assuring the parameter estimation error to go to a residual set of the origin arbitrarily fast. Simulations are included to support the theoretical results.

引用

页码：1198 / 1202

页数：5

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