Title :
Robust speed-gradient adaptive control algorithms for manipulators and mobile robots
Author :
Fradkov, A.L. ; Gusev, S.V. ; Makarov, I.A.
Author_Institution :
Inst. of Machine Sci., Acad. of Sci., St. Petersburg, USSR
Abstract :
A number of adaptive control algorithms for manipulating and mobile robots are considered from the viewpoint of the speed-gradient method. A general theorem on speed-gradient algorithms is presented, making it possible to investigate closed-loop robot dynamics under disturbances and nonstationarities
Keywords :
adaptive control; closed loop systems; robots; stability; closed-loop robot dynamics; disturbances; manipulators; mobile robots; nonstationarities; robust speed-gradient adaptive control algorithms; Adaptive control; Angular velocity; Equations; Intrusion detection; Manipulator dynamics; Mobile robots; Robot kinematics; Robust control; Robustness; Torque control;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261122
