AN EXPONENTIALLY STABLE ADAPTIVE-CONTROL LAW FOR ROBOT MANIPULATORS

被引：48
|
作者：
SADEGH, N [1 ]
HOROWITZ, R [1 ]
机构：
[1] UNIV CALIF BERKELEY,DEPT MECH ENGN,BERKELEY,CA 94720
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1990年 / 6卷 / 04期
关键词：
D O I：
10.1109/70.59360
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 a new exponentially stable direct adaptive control law for motion control of robot manipulators. This control law utilizes the desired trajectory information instead of the actual manipulator joint signals for feedforward compensations and parameter adaptation, and computationally, it is extremely efficient. The exponential stability of the adaptive control algorithm is proven without requiring the persistent excitation condition and by fully considering the nonlinear dynamics of the manipulator in the analysis. © 1990 IEEE
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页码：491 / 496
页数：6
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