ADAPTIVE COMPUTED TORQUE CONTROL FOR RIGID LINK MANIPULATIONS

被引：202

作者：

MIDDLETON, RH ^{[1
]}

GOODWIN, GC ^{[1
]}

机构：

[1] UNIV NEWCASTLE,DEPT ELECT & COMP ENGN,NEWCASTLE,NSW 2308,AUSTRALIA

来源：

SYSTEMS & CONTROL LETTERS | 1988年 / 10卷 / 01期

关键词：

CONTROL SYSTEMS; ADAPTIVE - Estimation - CONTROL SYSTEMS; NONLINEAR; -; Estimation; CONTROL; MECHANICAL VARIABLES - Torques;

D O I：

10.1016/0167-6911(88)90033-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We examine the adaptive control of rigid link manipulator systems. Linear estimation techniques together with a computed torque control law are shown to give a globally convergent adaptive system which does not require measurements of accelerations.

引用

页码：9 / 16

页数：8

共 18 条

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GOODWIN, GC
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KOIVO, AJ
GUO, TH
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