Title :
An exponentially stable adaptive control law for robot manipulators
Author :
Sadegh, Nader ; Horowitz, Roberto
Author_Institution :
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fDate :
8/1/1990 12:00:00 AM
Abstract :
An exponentially stable direct adaptive control law for motion control of robot manipulators is presented. This control law utilizes the desired trajectory information instead of the actual manipulator joint signals for feedforward compensations and parameter adaptation. Computationally, it is extremely efficient. The exponential stability of the adaptive control algorithm is proven without requiring the persistent excitation condition and by fully considering the nonlinear dynamics of the manipulator in the analysis
Keywords :
adaptive control; control system analysis; position control; robots; stability; adaptive control; exponential stability; manipulators; motion control; nonlinear dynamics; robot; Adaptive control; Automatic control; Communication system control; Convergence; Manipulator dynamics; Motion control; Programmable control; Robot kinematics; Robotics and automation; Stability;
Journal_Title :
Robotics and Automation, IEEE Transactions on
