Title :
Globally stable adaptive controller of robot manipulators
Author :
Zhou Qijie ; Xu Jianmin ; Leung, T.P.
Author_Institution :
Dept. of Autom., South China Univ. of Technol., Guangzhou, China
Abstract :
This paper addresses an adaptive inverse dynamics robotic control algorithm. Based on Lyapunov stability theory, the theorems on the global stability of robotic system are proven. The proposed algorithm is easy to implement and the robotic system is robust to parameter uncertainty and payload variation. Simulation results show the effectiveness of the scheme.<>
Keywords :
Lyapunov methods; adaptive control; manipulator dynamics; stability; tracking; Lyapunov stability theory; adaptive inverse dynamics robotic control algorithm; globally stable adaptive controller; parameter uncertainty; payload variation; robot manipulators; Adaptive control; Heuristic algorithms; Lyapunov method; Manipulator dynamics; Payloads; Programmable control; Robot control; Robustness; Stability; Uncertain systems;
Conference_Titel :
TENCON '93. Proceedings. Computer, Communication, Control and Power Engineering.1993 IEEE Region 10 Conference on
Conference_Location :
Beijing, China
Print_ISBN :
0-7803-1233-3
DOI :
10.1109/TENCON.1993.320441
