A class of adaptive regulators for robot manipulators

DOI10.1002/(SICI)1099-1115(199802)12:1%3C41::AID-ACS466%3E3.0.CO;2-AMaRDI QIDQ4385304zbMATH OpenOpenAlexFDO

Authors Rafael Kelly, Victor Santibáñez, Fernando Reyes

Publication date 10 August 1998

Full work available at URL https://doi.org/10.1002/(sici)1099-1115(199802)12:1%3C41::aid-acs466%3E3.0.co;2-a

zbMATH Keywords

adaptive control systemsautomated systemsglobal regulatorslinear velocity feedbackrobots

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Adaptive motion control of rigid robots: A tutorial
• New class of control laws for robotic manipulators Part 2. Adaptive case
• Strict Lyapunov functions for control of robot manipulators
• New class of control laws for robotic manipulators Part 1. Non–adaptive case

Cited in

(3)

• A nominal adaptive controller for a robot manipulator
• Global regulation of elastic joint robots based on energy shaping
• Adaptive <scp>PID</scp> control of robotic manipulators without equality/inequality constraints on control gains

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