HYBRID ADAPTIVE-CONTROL FOR ROBOT MANIPULATORS

被引：0

作者：

MO, L ^{[1
]}

BAYOUMI, MM ^{[1
]}

机构：

[1] QUEENS UNIV,DEPT ELECT ENGN,KINGSTON K7L 3N6,ONTARIO,CANADA

来源：

SYSTEMS & CONTROL LETTERS | 1990年 / 15卷 / 05期

关键词：

ROBOT; ADAPTIVE CONTROL; PARAMETER ESTIMATION; NONLINEAR SYSTEMS; RECURSIVE ESTIMATION;

D O I：

10.1016/0167-6911(90)90064-2

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A hybrid adaptive control scheme is proposed for robot manipulators. Unmodelled dynamics have been considered in the robot model. The standard RLS algorithm has been modified to take into account these unmodelled dynamics. Global stability of the system is ensured.

引用

页码：405 / 409

页数：5