Title :
Adaptive control of rigid-link electrically-driven robots
Author :
Bridges, M.M. ; Dawson, D.M. ; Gao, X.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
In this paper, we combine the approaches presented previously by us (1991, 1992) to design an adaptive controller for rigid-link electrically-driven (RLED) robot manipulators. With the proposed controller, we prove that the link position tracking error is globally asymptotically stable in spite of parametric uncertainty and the presence of electrical motor dynamics
Keywords :
adaptive control; position control; robots; stability; tracking; adaptive controller; global asymptotic stability; link position tracking error; manipulators; rigid link electrically driven robots; robot; Actuators; Adaptive control; Control systems; Error correction; Force control; Programmable control; Robot control; Robust control; Stability; Uncertainty;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325171
