DocumentCode
2100092
Title
Adaptive control of robot manipulators based on passivity
Author
Tang, Yu ; Arteaga, Marco A.
Author_Institution
Nat. Univ. of Mexico, Mexico
fYear
1993
fDate
15-17 Dec 1993
Firstpage
148
Abstract
A new adaptation algorithm is presented for adaptive control of robot manipulators. The passivity property of the proposed algorithm is first established, then the stability is proved based on the passivity properties of the plant and those of the proposed algorithm. Because of the use of the past information and averaging effect, this algorithm gives a smoother tracking and parameter error in the presence of disturbances, and a parameter convergence under a weaker excitation condition. Computer simulations are presented to illustrate this effect
Keywords
adaptive control; convergence; position control; robots; stability; tracking; adaptive control; averaging effect; excitation condition; manipulators; parameter convergence; parameter error; passivity; robot; stability; tracking; Adaptive control; Computer errors; Computer simulation; Control systems; Convergence; Manipulators; Programmable control; Robots; Stability; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location
San Antonio, TX
Print_ISBN
0-7803-1298-8
Type
conf
DOI
10.1109/CDC.1993.325173
Filename
325173
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