Title :
Adaptive control of robot manipulators based on passivity
Author :
Tang, Yu ; Arteaga, Marco A.
Author_Institution :
DEPFI, Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
fDate :
9/1/1994 12:00:00 AM
Abstract :
New adaptation algorithm is presented for adaptive control of robot manipulators. The passivity property of the proposed algorithm is first established, then the stability is proved based on the passivity properties of the plant and those of the proposed algorithm. Because of the use of the past information and averaging effect, this algorithm gives a smoother tracking and parameter error and a parameter convergence under a weaker excitation condition
Keywords :
adaptive control; closed loop systems; robots; stability; tracking; adaptation algorithm; adaptive control; averaging effect; closed loop systems; excitation condition; manipulators; parameter convergence; passivity; robot; stability; tracking; Accelerometers; Adaptive control; Computer errors; Convergence; Error correction; Manipulators; Mechanical factors; Programmable control; Robots; Stability;
Journal_Title :
Automatic Control, IEEE Transactions on
