Adaptive trajectory tracking control with finite-time stability for robot manipulators

被引：0
|
作者：
Fujishiro, Juro [1 ]
Fukui, Yoshiro [1 ]
Wada, Takahiro [1 ]
机构：
[1] Ritsumeikan Univ, Coll Informat Sci & Engn, Dept Human & Comp Intelligence, Kyoto, Japan
来源：
2015 INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS) | 2015年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We propose an adaptive control method with a finite-time convergence rate for the trajectory tracking control problem in robot manipulators. We extend Slotine and U's conventional adaptive control method for robot manipulators and compare the convergence rates through simulation with one- and two-link manipulators. We also compare the convergence rates through experiments with a one- link manipulator. Both results show that the proposed method converges more quickly than Slotine and U's method.
引用
收藏
页码：60 / 66
页数：7
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