TY - GEN
T1 - Adaptive tracking control of robot manipulators in Cartesian space coordinates
AU - Feng, Gang
AU - Palaniswami, M.
AU - Yao, Y.
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to lbscholars@cityu.edu.hk.
PY - 1991
Y1 - 1991
N2 - Adaptive tracking control of robotic manipulators in Cartesian space coordinates is considered. It is assumed that the Jacobian matrix of the robot is known. A general Lyapunov-like concept is then used to design an adaptive control law. It is shown that the global stability and convergence can be achieved for the adaptive control algorithm. The algorithm has the advantage that the inverse of the Jacobian matrix is not required. The algorithm is further modified so that the requirement of boundedness for the inverse of estimated inertia matrix is eliminated. Results are also presented to achieve robustness to bounded disturbances.
AB - Adaptive tracking control of robotic manipulators in Cartesian space coordinates is considered. It is assumed that the Jacobian matrix of the robot is known. A general Lyapunov-like concept is then used to design an adaptive control law. It is shown that the global stability and convergence can be achieved for the adaptive control algorithm. The algorithm has the advantage that the inverse of the Jacobian matrix is not required. The algorithm is further modified so that the requirement of boundedness for the inverse of estimated inertia matrix is eliminated. Results are also presented to achieve robustness to bounded disturbances.
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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0026382203&origin=recordpage
U2 - 10.23919/acc.1991.4791515
DO - 10.23919/acc.1991.4791515
M3 - 32_Refereed conference paper (with ISBN/ISSN)
SN - 0879425652
SN - 9780879425654
VL - 1
T3 - Proceedings of the American Control Conference
SP - 932
EP - 937
BT - Proceedings of the American Control Conference
PB - Publ by American Automatic Control Council
T2 - Proceedings of the 1991 American Control Conference
Y2 - 26 June 1991 through 28 June 1991
ER -