DocumentCode
887109
Title
Comments on "Adaptive PD controller for robot manipulators
Author
Kelly, Rafael
Author_Institution
CICESE, Ensenada, Mexico
Volume
9
Issue
1
fYear
1993
Firstpage
117
Lastpage
119
Abstract
An alternative analysis that does not invoke the LaSalle invariance principle of the PD proportional-differential controller with gravity compensation for robots, presented in the above-titled paper by P. Tomei (ibid., vol.7, no.4, p.565-70, Aug. 1991) is established. The result is used to develop straightforwardly a new PD controller with adaptive gravity compensation, and conditions to ensure closed-loop stability and global zero position error convergence are given.<>
Keywords
adaptive control; invariance; robots; stability; two-term control; LaSalle invariance principle; PD controller; adaptive control; closed-loop stability; global zero position error convergence; gravity compensation; manipulators; robot; Adaptive control; Convergence; Error correction; Gravity; Manipulators; PD control; Programmable control; Proportional control; Robot control; Stability;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.210803
Filename
210803
Link To Document