Adaptive Cartesian space control of robotic manipulators: a concurrent learning based approach

DOI10.1016/J.JFRANKLIN.2024.106701MaRDI QIDQ6495034FDOQ6495034

Authors: Serhat Obuz, Enver Tatlicioglu, E. Zergeroglu 

Publication date: 30 April 2024

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

zbMATH Keywords

adaptive controlconcurrent learningdirect Cartesian space control

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Exponential stability (93D23)

Cites Work

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• Composite learning robot control with guaranteed parameter convergence
• Redundancy resolution through local optimization: A review
• Combined MRAC for Unknown MIMO LTI Systems With Parameter Convergence
• Composite learning from adaptive backstepping neural network control
• Composite adaptive dynamic surface control using online recorded data
• Composite Model Reference Adaptive Control with Parameter Convergence Under Finite Excitation
• Integral concurrent learning: Adaptive control with parameter convergence using finite excitation
• Composite learning control of robotic systems: a least squares modulated approach
• Stability analysis by a nonlinear upper bound on the derivative of Lyapunov function

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