On adaptive inverse dynamics control of rigid robots

DOI10.1109/9.45152zbMath0708.93058OpenAlexW1967755980MaRDI QIDQ3491431

Romeo S. Ortega, Mark W. Spong

Publication date: 1990

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

Full work available at URL: https://doi.org/10.1109/9.45152

zbMATH Keywords

rigid robot manipulatorsadaptive inverse dynamics control law

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

Related Items (17)

A control study of a kneeless biped locomotion system ⋮ A design approach to adaptive model-following control of robotic manipulators ⋮ Adaptive control for an uncertain robotic manipulator with input saturations ⋮ Global output-feedback tracking and load disturbance rejection for electrically-driven robotic manipulators with uncertain dynamics ⋮ Dynamic learning from adaptive neural control of uncertain robots with guaranteed full-state tracking precision ⋮ Adaptive control of nonlinear systems: A case study of underwater robotic systems ⋮ Robust adaptive input-output control for a class of modular robotic systems via inverse optimality theory ⋮ Robust adaptive control for robot manipulators ⋮ Robust trajectory‐tracking in finite‐time for robot manipulators using nonlinear proportional‐derivative control plus feed‐forward compensation ⋮ Trajectory-tracking in finite-time for robot manipulators with bounded torques via output-feedback ⋮ The variable-inertia modified computed-torque control of robot manipulators ⋮ Adaptive learning control of uncertain robotic systems ⋮ A model of parameter adaptive law with time varying function for robot control ⋮ Practical trajectory tracking of random Lagrange systems ⋮ Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics ⋮ An approach to adaptive neural control of robot manipulators ⋮ Trajectory tracking control of Euler-Lagrange systems with ISS-like robustness to actuator noises

This page was built for publication: On adaptive inverse dynamics control of rigid robots