Title :
Hybrid adaptive control for robot manipulators
Author :
Mo, L. ; Bayoumi, M.M.
Author_Institution :
Dept. of Electr. Eng., Queen´´s Univ., Kingston, Ont., Canada
Abstract :
A hybrid adaptive control scheme is proposed for robot manipulators. Unmodeled dynamics are considered in the robot model. The standard RLS algorithm has been modified to take into account these unmodeled dynamics. Global stability of the system is ensured
Keywords :
adaptive control; least squares approximations; robots; stability; RLS algorithm; global stability; hybrid adaptive control; robot manipulators; unmodeled dynamics; Adaptive control; Equations; Friction; Manipulator dynamics; Parameter estimation; Resonance light scattering; Robots; Sampling methods; Stability; Vectors;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203477
