An adaptive law for slope identification and force position regulation using motion variables

被引：16

作者：

Karayiannidis, Yiannis ^{[1
]}

Doulgeri, Zoe ^{[1
]}

机构：

[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Thessaloniki 54124, Greece

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

关键词：

D O I：

10.1109/ROBOT.2006.1642242

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work proposes an adaptive control law for the force position regulation problem under surface kinematic uncertainties. A compliant contact with friction is considered. The control law achieves exact regulation of force and position along the surface tangent by identifying the surface slope. The asymptotic stability of the closed loop system equilibrium point is proved in a local sense and is demonstrated by a simulation example.

引用

页码：3538 / +

页数：2

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