ADAPTIVE-CONTROL OF ROBOT MANIPULATOR MOTION

被引：46
|
作者：
JOHANSSON, R
机构：
[1] Department of Automatic Control, Lund Institute of Technology, Lund
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1990年 / 6卷 / 04期
关键词：
Adaptive control; L2-stability; Lyapunov stability; rapid parameter estimation; robot control;
D O I：
10.1109/70.59359
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents algorithms for continuous-time direct adaptive control of robot manipulators. Lyapunov theory is used for controller design and stability investigation. Algorithms for rapid continuous-time adaptive control are presented. © 1990 IEEE
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页码：483 / 490
页数：8
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