TY - GEN
T1 - An Improved Adaptive Control Algorithm for Partially Known Rigid Robots
AU - Feng, Gang
PY - 1992/11
Y1 - 1992/11
N2 - An improved global convergent computed torque algorithm is presented for adaptive control of rigid robots. The algorithm eliminates the restrictive assumption on the boundedness of the inverse of the estimated inertia matrix and the subsequent need to modify the parameter update law, which is required in similar computed torque adaptive control algorithms. The algorithm is further modified to achieve robustness to bounded disturbances.
AB - An improved global convergent computed torque algorithm is presented for adaptive control of rigid robots. The algorithm eliminates the restrictive assumption on the boundedness of the inverse of the estimated inertia matrix and the subsequent need to modify the parameter update law, which is required in similar computed torque adaptive control algorithms. The algorithm is further modified to achieve robustness to bounded disturbances.
UR - http://www.scopus.com/inward/record.url?scp=85066898411&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85066898411&origin=recordpage
U2 - 10.1109/TENCON.1992.272032
DO - 10.1109/TENCON.1992.272032
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 0780308492
T3 - IEEE Region 10 Annual International Conference, Proceedings/TENCON
SP - 963
EP - 967
BT - TENCON 1992 - Technology Enabling Tomorrow
PB - IEEE
T2 - 1992 IEEE Region 10 International Conference (TENCON 1992)
Y2 - 11 November 1992 through 13 November 1992
ER -