• DocumentCode
    488487
  • Title

    Passivity based Adaptive Control for Mechanical Manipulators using LS-Type Estimation

  • Author

    Leal, Rogelio Lozano ; De Wit, Carlos Canudas

  • Author_Institution
    Laboratoire d´´Automatique de Grenoble, E.N.S.I.E.G. - I.N.P.G., B.P. 46 - 38402 Saint Martin d´´Hÿres, FRANCE
  • fYear
    1990
  • fDate
    23-25 May 1990
  • Firstpage
    2271
  • Lastpage
    2274
  • Abstract
    A new adaptive controller for mechanical manipulators is presented. The convergence analysis is based on the passivity properties of the plant and those of the parameter estimation algorithm. Instead of using a gradient type algorithm, as is currently the case in this sort of synthesis approach, a Least Square-type estimation algorithm is proposed This estimation algorithm is proved to be passive.
  • Keywords
    Adaptive control; Algorithm design and analysis; Convergence; Equations; H infinity control; Manipulators; Mechanical factors; Parameter estimation; Programmable control; Robot kinematics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1990
  • Conference_Location
    San Diego, CA, USA
  • Type

    conf

  • Filename
    4791135
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=488487