Adaptive controller designs for robot manipulator systems using Lyapunov direct method

DOI10.1109/TAC.1985.1103873zbMath0571.93039OpenAlexW2031526189MaRDI QIDQ3688192

Kye Y. Lim, Mansour Eslami

Publication date: 1985

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tac.1985.1103873

zbMATH Keywords

adaptive controlLyapunov's direct methodrobot manipulator systems

Mathematics Subject Classification ID

Multivariable systems, multidimensional control systems (93C35) Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Lagrange's equations (70H03)

Related Items (9)

Vibration control for a flexible satellite system with output constraints ⋮ An indirect adaptive robot controller ⋮ Sampled‐data robust practical tracking of Euler‐Lagrange systems with an uncertain exosystem ⋮ Principles and design of model-based robot controllers ⋮ New class of control laws for robotic manipulators Part 2. Adaptive case ⋮ Adaptive tracking control of uncertain Euler-Lagrange systems subject to external disturbances ⋮ Comments on ‘An adaptive control scheme for robot manipulators’ ⋮ Direct adaptive control of a one‐link flexible arm with tracking ⋮ Optimal input for identification versus sensitivity reduction of systems with large parameter variations

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