Adaptive motion control of robot manipulators: A unified approach based on passivity

DOI10.1002/rnc.4590010305zbMath0770.93069OpenAlexW2049296190MaRDI QIDQ4006048

Bernard Brogliato, Rongelio Lozano-Leal, Ioan Doré Landau

Publication date: 26 September 1992

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.4590010305

zbMATH Keywords

Lyapunov functionsrigid multilink robots

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) General systems theory (93A99)

Related Items (6)

Global tracking controllers for flexible-joint manipulators: A comparative study ⋮ Nonlinear adaptive control of feedback passive systems ⋮ An adaptive finite‐time stable control law for manipulator robots with unknown parameters ⋮ An exponentially convergent adaptive sliding mode control of robot manipulators ⋮ Positivity and linear matrix inequalities ⋮ Global adaptive learning control of robotic manipulators by output error feedback

Cites Work

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• Input-output analysis of large-scale interconnected systems. Decomposition, well-posedness and stability
• Passivity and global stabilization of cascaded nonlinear systems
• Adaptive hybrid force-position control for redundant manipulators

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