Title :
Adaptive control of partially known single-link flexible manipulators
Author :
Feng, Gang ; Palaniswami, M.
Author_Institution :
Dept. of Electr. & Electron. Eng., Melbourne Univ., Parkville, Vic., Australia
Abstract :
This paper presents a robot adaptive control algorithm for a class of partially known continuous time systems in the presence of plant unmodelled dynamics and bounded disturbances. The algorithm is then applied to a single-link flexible manipulator.<>
Keywords :
adaptive control; distributed parameter systems; large-scale systems; robots; stability; bounded disturbances; partially known single-link flexible manipulators; robot adaptive control; unmodelled dynamics; Adaptive control; Continuous time systems; Control systems; Convergence; Discrete time systems; Manipulator dynamics; Parameter estimation; Polynomials; Programmable control; Robust control;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240428
