Robust adaptive control for robot manipulators

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

12 Scopus Citations
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Author(s)

Detail(s)

Original languageEnglish
Pages (from-to)1017-1028
Journal / PublicationInternational Journal of Systems Science
Volume26
Issue number5
Publication statusPublished - May 1995
Externally publishedYes

Abstract

A composite adaptive control law for robot manipulators in task space, which uses both the tracking error and the prediction error to drive parameter estimation, is developed in this paper. It is shown that global stability and convergence can be achieved for the adaptive control algorithm in the ideal case, and furthermore that the algorithm can be easily modified by using parameter projection to achieve robustness with respect to a class of unmodelled dynamics. In addition, the algorithm has the advantage that no requirement is needed for the inverse of the jacobian matrix or for the bounded inverse of the estimated inertia matrix. A simulation example is provided for performance demonstration.

Citation Format(s)

Robust adaptive control for robot manipulators. / Feng, Gang; Ren, R. L.
In: International Journal of Systems Science, Vol. 26, No. 5, 05.1995, p. 1017-1028.

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review