Decentralized adaptive tracking control of robot manipulators

DOI<803::AID-ROB3>3.0.CO;2-Z 10.1002/(SICI)1097-4563(199612)13:12<803::AID-ROB3>3.0.CO;2-ZzbMath0889.70021OpenAlexW1982756381MaRDI QIDQ4359900

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Publication date: 1 June 1998

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199612)13:12<803::aid-rob3>3.0.co;2-z

zbMATH Keywords

robot dynamicsLyapunov theorycontrol schemeasymptotically stable schemeparameter adaptation lawssix-degree-of-freedom industrial robot

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

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Cites Work

• Model reference adaptive control algorithms for industrial robots
• Adaptive computed torque control for rigid link manipulations
• Robust adaptive control of a class of nonlinear mechanical systems with unbounded and fast-varying uncertainties
• A discrete-time adaptive control scheme for robot manipulators
• An Adaptive Model Following Control for Robotic Manipulators
• A New Approach to Adaptive Control of Manipulators
• Adaptive manipulator control: A case study
• Lyapunov function-based control laws for revolute robot arms: tracking control, robustness, and adaptive control
• Adaptive hybrid force-position control for redundant manipulators
• Decentralized adaptive control of manipulators