A GLOBALLY CONVERGENT ADAPTIVE CONTROLLER FOR ROBOT MANIPULATORS

被引：5
|
作者：
MAHMOUD, MS
HAJEER, HY
机构：
[1] Department of Electrical and Computer Engineering, Kuwait University, 10360, Kuwait
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1994年 / 39卷 / 01期
关键词：
Adaptive control law - Tracking error;
D O I：
10.1109/9.273353
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work, a globally convergent adaptive scheme is developed for controlling robot manipulators. Asymptotic behavior of the tracking error is established using the properties of the robot dynamics. A modified version of the controller which employs the filtered torque in its update law is also shown to have the same convergence properties.
引用
收藏
页码：148 / 151
页数：4
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