An Improved Adaptive Control Algorithm for Partially Known Rigid Robots

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationTENCON 1992 - Technology Enabling Tomorrow
Subtitle of host publicationComputers, Communications and Automation towards the 21st Century - 1992 IEEE Region 10 International Conference
PublisherInstitute of Electrical and Electronics Engineers, Inc.
Pages963-967
ISBN (print)0780308492
Publication statusPublished - Nov 1992
Externally publishedYes

Publication series

NameIEEE Region 10 Annual International Conference, Proceedings/TENCON
ISSN (Print)2159-3442
ISSN (electronic)2159-3450

Conference

Title1992 IEEE Region 10 International Conference (TENCON 1992)
PlaceAustralia
CityMelbourne
Period11 - 13 November 1992

Link(s)

DOI

DOI
Check@CityULib
Link to Scopus https://www.scopus.com/record/display.uri?eid=2-s2.0-85066898411&origin=recordpage
Permanent Link https://scholars.cityu.edu.hk/en/publications/publication(be143ded-82bf-4914-a70e-a73635214d62).html

Abstract

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.

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Publication fingerprints text

100
Robot Computer Science
100
Algorithms Computer Science
100
Adaptive Control Sy... Computer Science
100
Control Algorithm Computer Science
100
algorithms INIS
100
control INIS
100
robots INIS
100
Algorithm Engineering
100
Adaptive Control Engineering
100
Adaptive Control Al... Keyphrases
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Citation Format(s)

[ RIS ] [ BibTeX ]
An Improved Adaptive Control Algorithm for Partially Known Rigid Robots. / Feng, Gang.
TENCON 1992 - Technology Enabling Tomorrow: Computers, Communications and Automation towards the 21st Century - 1992 IEEE Region 10 International Conference. Institute of Electrical and Electronics Engineers, Inc., 1992. p. 963-967 272032 (IEEE Region 10 Annual International Conference, Proceedings/TENCON).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review