Title :
Adaptive controller designs for robot manipulator systems using Lyapunov direct method
Author :
Lim, Kye Y. ; Eslami, Mansour
Author_Institution :
State University of New York, Stony Brook, NY, USA
fDate :
12/1/1985 12:00:00 AM
Abstract :
Two different controllers for robot manipulator systems based on the general adaptive control theory using Lyapunov direct method are designed. A way of improving the transient response and convergence speed of a multivariable system in conjunction with this controller is established.
Keywords :
Adaptive control, nonlinear systems; Lyapunov methods, nonlinear systems; Manipulators; Multivariable systems; Actuators; Adaptive control; Control systems; Convergence; Equations; Manipulators; Programmable control; Robot control; Service robots; Transient response;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.1985.1103873
