Adaptive tracking control of robot manipulators in Cartesian space coordinates
Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45) › 32_Refereed conference paper (with ISBN/ISSN) › peer-review
Author(s)
Detail(s)
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the American Control Conference |
| Publisher | Publ by American Automatic Control Council |
| Pages | 932-937 |
| Volume | 1 |
| ISBN (Print) | 0879425652, 9780879425654 |
| Publication status | Published - 1991 |
| Externally published | Yes |
Publication series
| Name | Proceedings of the American Control Conference |
|---|---|
| Volume | 1 |
| ISSN (Print) | 0743-1619 |
Conference
| Title | Proceedings of the 1991 American Control Conference |
|---|---|
| City | Boston, MA, USA |
| Period | 26 - 28 June 1991 |
Link(s)
Abstract
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.
Bibliographic Note
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.
Citation Format(s)
Adaptive tracking control of robot manipulators in Cartesian space coordinates. / Feng, Gang; Palaniswami, M.; Yao, Y.
Proceedings of the American Control Conference. Vol. 1 Publ by American Automatic Control Council, 1991. p. 932-937 (Proceedings of the American Control Conference; Vol. 1).Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45) › 32_Refereed conference paper (with ISBN/ISSN) › peer-review
