Adaptive computed torque control for rigid link manipulations
type: Item
instance of: scholarly article
title: Adaptive computed torque control for rigid link manipulations
zbMATH Open document ID: 0636.93051
DOI: 10.1016/0167-6911(88)90033-3
author: Graham C. Goodwin
author: Richard H. Middleton
published in: Systems \& Control Letters
publication date: 1988-01-01T00:00:00Z
review text: This paper presents an adaptive computed-torque control method for rigid link mechanical manipulators. The dynamic equations of motion of the system are suitably parametrized in such a way that linear estimation can be used. This avoids the drawbacks concerned with former adaptive controllers such as: i) non-zero tracking errors, ii) unbounded feedback gains or iii) `chattering' effects. The resulting control law remarkably requires measurements of state variables only. Global convergence is established. The paper is nicely written and well organized. It would be interesting to see further results on robustness, computational aspects and performance issues of the proposed control law.
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 93C95
zbMATH DE Number: 4037720
zbMATH Keywords: adaptive computed-torque control
zbMATH Keywords: rigid link mechanical manipulators
zbMATH Keywords: linear estimation
zbMATH Keywords: Global convergence
MaRDI profile type: Publication
full work available at URL: 0167-6911(88)90033-3
OpenAlex ID: W2118587090
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description: scientific article; zbMATH DE number 4037720