• DocumentCode
    1040469
  • 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
  • Volume
    39
  • Issue
    1
  • fYear
    1994
  • fDate
    1/1/1994 12:00:00 AM
  • Firstpage
    148
  • Lastpage
    151
  • 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;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/9.273353
  • Filename
    273353
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1040469