Adaptive control of robot manipulators based on passivity

DOI10.1109/9.317115zbMath0817.93048OpenAlexW2130376170MaRDI QIDQ4324926

Arteaga, Marco A., Yu. Tang

Publication date: 2 March 1995

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

Full work available at URL: https://doi.org/10.1109/9.317115

zbMATH Keywords

trackingadaptive controlpassivityrobot manipulatorsaveraging effectweaker excitation

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

Related Items (7)

Stable robot manipulator parameter identification: a closed-loop input error approach ⋮ Novel model reference adaptive control architecture using semi‐initial excitation‐based switched parameter estimator ⋮ Composite adaptive control for Euler-Lagrange systems with additive disturbances ⋮ Composite learning control of robotic systems: a least squares modulated approach ⋮ Comparative analysis of passive algorithms in adaptive control ⋮ Robot control and parameter estimation with only joint position measurements ⋮ Trajectory tracking control of Euler-Lagrange systems with ISS-like robustness to actuator noises

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