DocumentCode
2100003
Title
Adaptive control of rigid-link electrically-driven robots
Author
Bridges, M.M. ; Dawson, D.M. ; Gao, X.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
fYear
1993
fDate
15-17 Dec 1993
Firstpage
159
Abstract
In this paper, we combine the approaches presented previously by us (1991, 1992) to design an adaptive controller for rigid-link electrically-driven (RLED) robot manipulators. With the proposed controller, we prove that the link position tracking error is globally asymptotically stable in spite of parametric uncertainty and the presence of electrical motor dynamics
Keywords
adaptive control; position control; robots; stability; tracking; adaptive controller; global asymptotic stability; link position tracking error; manipulators; rigid link electrically driven robots; robot; Actuators; Adaptive control; Control systems; Error correction; Force control; Programmable control; Robot control; Robust control; Stability; Uncertainty;
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.1993.325171
Filename
325171
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