Title :
Passivity based Adaptive Control for Mechanical Manipulators using LS-Type Estimation
Author :
Leal, Rogelio Lozano ; De Wit, Carlos Canudas
Author_Institution :
Laboratoire d´´Automatique de Grenoble, E.N.S.I.E.G. - I.N.P.G., B.P. 46 - 38402 Saint Martin d´´Hÿres, FRANCE
Abstract :
A new adaptive controller for mechanical manipulators is presented. The convergence analysis is based on the passivity properties of the plant and those of the parameter estimation algorithm. Instead of using a gradient type algorithm, as is currently the case in this sort of synthesis approach, a Least Square-type estimation algorithm is proposed This estimation algorithm is proved to be passive.
Keywords :
Adaptive control; Algorithm design and analysis; Convergence; Equations; H infinity control; Manipulators; Mechanical factors; Parameter estimation; Programmable control; Robot kinematics;
Conference_Titel :
American Control Conference, 1990
Conference_Location :
San Diego, CA, USA
