Title :
A globally convergent adaptive controller for robot manipulators
Author :
Mahmoud, Magdi S. ; Hajeer, Husam Y.
Author_Institution :
Dept. of Electr. & Comput. Eng., Kuwait Univ., Safat, Kuwait
fDate :
1/1/1994 12:00:00 AM
Abstract :
In this work, a globally convergent adaptive scheme is developed for controlling robot manipulators. Asymptotic behavior of the tracking error is established using the properties of the robot dynamics. A modified version of the controller which employs the filtered torque in its update law is also shown to have the same convergence properties
Keywords :
adaptive control; convergence; manipulators; asymptotic behavior; convergence properties; dynamics; filtered torque; globally convergent adaptive controller; robot manipulators; tracking error; Adaptive control; Convergence; Couplings; Error correction; Manipulator dynamics; Parameter estimation; Programmable control; Robot control; Robot kinematics; Service robots;
Journal_Title :
Automatic Control, IEEE Transactions on
