Backstepping-based hybrid adaptive control of robot manipulators incorporating actuator dynamics

被引：1
|
作者：
Su, CY
Stepanenko, Y
机构：
[1] Department of Mechanical Engineering, University of Victoria, Victoria
[2] University of Victoria
来源：
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 1997年 / 11卷 / 02期
关键词：
adaptive control; robot manipulators; actuator dynamics;
D O I：
10.1002/(SICI)1099-1115(199703)11:2<141::AID-ACS434>3.0.CO;2-I
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
By using the integrator backstepping technique, the control of rigid link, electrically driven robot manipulators is addressed in the presence of arbitrary uncertain manipulator inertia parameters and actuator parameters. The control scheme developed is computationally simple owing to the avoidance of the derivative computation of the regressor matrix. Semiglobal asymptotic stability of the controller is established in the Lyapunov sense. Simulation results are included to demonstrate the tracking performance. (C) 1997 by John Wiley & Sons, Ltd.
引用
收藏
页码：141 / 153
页数：13
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