Journal ArticleDOI
Adaptive computed torque control for rigid link manipulators
Reads0
Chats0
TLDR
In this paper, the adaptive control of rigid link manipulator systems is examined and linear estimation techniques together with a computed torque control law are shown to give a globally convergent adaptive system which does not require measurements of accelerations.About:
This article is published in Systems & Control Letters.The article was published on 1988-01-03. It has received 387 citations till now. The article focuses on the topics: Adaptive control.read more
Citations
More filters
Journal ArticleDOI
Adaptive motion control of rigid robots: a tutorial
Romeo Ortega,Mark W. Spong +1 more
TL;DR: The intent is to lend some perspective to the growing list of adaptive control results for manipulators by providing a unified framework for comparison of those adaptive control algorithms which have been shown to be globally convergent.
Journal ArticleDOI
Adaptive nonlinear regulation: estimation from the Lyapunov equation
TL;DR: In this paper, a stabilizing adaptive controller for a nonlinear system depending affinely on some unknown parameters is presented, where the adaptive law is designed using the Lyapunov equation.
Proceedings ArticleDOI
Adaptive motion control of rigid robots: a tutorial
Romeo Ortega,Mark W. Spong +1 more
TL;DR: The intention is to lend some perspective to the growing list of adaptive control results for manipulators by providing a unified framework for comparison of those adaptive control algorithms which have been shown to be globally convergent.
Journal ArticleDOI
Adaptation and learning using multiple models, switching, and tuning
TL;DR: A general methodology for the design of adaptive control systems which can learn to operate efficiently in dynamical environments possessing a high degree of uncertainty is presented.
Journal ArticleDOI
Adaptive regulation of nonlinear systems with unmodeled dynamics
TL;DR: In this paper, an adaptive update law which counteracts the effects of unknown parameters is shown to be robust to the unmodeled dynamics, and conditions are given for global stability of an adaptive control law designed for the reduced-order model of a class of nonlinear plants.
References
More filters
Journal ArticleDOI
Adaptive control of mechanical manipulators
TL;DR: In this paper, an accurate dynamic model of a mechanical manipulator is used in a nonlinear, model-based scheme to control the manipulator, which yields a controllable manipulator.
Journal ArticleDOI
The application of model-referenced adaptive control to robotic manipulators
Steven Dubowsky,D. T. Desforges +1 more
TL;DR: In this paper, a model-referenced adaptive control law is developed for maintaining uniformly good performance over a wide range of motions and payloads, and a learning signal approach is designed to minimize initial transients arising from abrupt changes in the inertial payload.
Journal ArticleDOI
A parameter estimation perspective of continuous time model reference adaptive control
Graham C. Goodwin,David Q. Mayne +1 more
TL;DR: It is shown that the convergence proofs for these algorithms may be decomposed into “modules” dealing with estimation and control, yielding a “key technical lemma” analogous to that used successfully in the study of discrete time systems.
Journal ArticleDOI
Adaptive linear controller for robotic manipulators
Antti J. Koivo,Ten-Huei Guo +1 more
TL;DR: This paper presents a new approach to the position and velocity control of a manipulator by using an adaptive controller of the self-tuning type for each joint using the difference equation model and a chosen performance criterion.