Asymptotically stable adaptive robot control exploiting the essential parameter set

Author

Bartoszewicz, Andrzej P.

Author_Institution

Inst. of Automatic Control, Tech. Univ. of Lodz, Poland

fYear

1993

fDate

6/15/1905 12:00:00 AM

Firstpage

713

Lastpage

721

Abstract

The authors introduce a procedure to determine the set of essential parameters of a robot manipulator dynamic model. Then they use the Lyapunov stability theory to construct an adaptive control algorithm based on the model containing only the parameters that belong to the determined set. The proposed control algorithm is computationally efficient and it requires neither inversion of the manipulator inertial matrix nor joint acceleration measurement. Asymptotic stability of the proposed control algorithm is proved.

Keywords

Lyapunov methods; adaptive control; control system synthesis; manipulators; parameter estimation; stability; Lyapunov stability theory; adaptive control algorithm; asymptotic stability; essential parameter set; inertial matrix; joint acceleration measurement; parameter estimation; robot manipulator; Accelerometers; Adaptive control; Asymptotic stability; Automatic control; Computational modeling; Lyapunov method; Manipulator dynamics; Programmable control; Robot control; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 1993. Conference Proceedings, ISIE'93 - Budapest., IEEE International Symposium on

Conference_Location

Budapest, Hungary

Print_ISBN

0-7803-1227-9

Type

conf

DOI

10.1109/ISIE.1993.268716

Filename

268716