Title :
Hyperstability approach to the synthesis of adaptive controllers for robot manipulators
Author_Institution :
Dept. of Math. Sci., San Diego State Univ., CA, USA
Abstract :
A general approach to the synthesis of model reference adaptive controllers for manipulators by means of hyperstability theory is presented. The manipulator adaptive control problem is first formulated in a form suitable for the application of hyperstability theory. The control scheme consists of feedback and cascade controllers, and an auxiliary signal. A generalized adaptation algorithm is developed which offers considerable flexibility in the choice of controller structure and its adjustable parameters
Keywords :
cascade control; control system synthesis; feedback; model reference adaptive control systems; robots; stability; cascade controllers; control system synthesis; feedback; hyperstability theory; model reference adaptive controllers; robot manipulators; Adaptive control; Feedback; Manipulator dynamics; Programmable control; Robot control; Signal synthesis; Torque; Trajectory; Uncertainty; Vectors;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131947
