DocumentCode
1261708
Title
An exponentially stable adaptive control law for robot manipulators
Author
Sadegh, Nader ; Horowitz, Roberto
Author_Institution
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Volume
6
Issue
4
fYear
1990
fDate
8/1/1990 12:00:00 AM
Firstpage
491
Lastpage
496
Abstract
An exponentially stable direct adaptive control law for motion control of robot manipulators is presented. This control law utilizes the desired trajectory information instead of the actual manipulator joint signals for feedforward compensations and parameter adaptation. 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
Keywords
adaptive control; control system analysis; position control; robots; stability; adaptive control; exponential stability; manipulators; motion control; nonlinear dynamics; robot; Adaptive control; Automatic control; Communication system control; Convergence; Manipulator dynamics; Motion control; Programmable control; Robot kinematics; Robotics and automation; Stability;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.59360
Filename
59360
Link To Document