Implicit adaptive control of robot manipulators

被引：0
|
作者：
Xu, Jianmin [1 ]
Zhou, Qijie [1 ]
Leung, Tinpui [1 ]
机构：
[1] South China Univ of Technology, Guangzhou, China
来源：
Kongzhi Lilun Yu Yinyong/Control Theory and Applications | 1994年 / 11卷 / 03期
关键词：
Implicit adaptive control - Ultimate boundedness - Uncertain bounds;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
An implicit adaptive inverse dynamics control scheme for robot manipulators is presented in this paper. Instead of estimating manipulator parameters, we directly update the feedback gain according to the function of uncertain bounds of the robotic system. This paper theoretically proved the ultimate boundedness of the tracking error even when uncertainties exisit in robotic model. The proposed method is convenient for design and needs less computation. Simulation results verified the effectiveness of the approach.
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页码：315 / 320
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