• DocumentCode
    2100600
  • Title

    Adaptive and robust control of a robot manipulator without acceleration measurements

  • Author

    Dawson, D.M. ; Lewis, F.L.

  • Author_Institution
    Sch. of Electr. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
  • fYear
    1989
  • fDate
    13-15 Dec 1989
  • Firstpage
    2629
  • Abstract
    An adaptive control scheme and a robust control scheme are introduced to exploit the structure of the robot manipulator equations. Lyapunov´s second method is used to analyze the stability of the control schemes. The major aspects of the paper are that the control schemes do not require the measurement of acceleration. In the stability analysis, a slightly different Lyapunov function from the ones usually given in the literature is used
  • Keywords
    Lyapunov methods; adaptive control; robots; stability; Lyapunov´s second method; adaptive control; robot manipulator; robust control; stability; Acceleration; Accelerometers; Adaptive control; Equations; Lyapunov method; Manipulators; Programmable control; Robots; Robust control; Stability analysis;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
  • Conference_Location
    Tampa, FL
  • Type

    conf

  • DOI
    10.1109/CDC.1989.70655
  • Filename
    70655
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2100600