Name
Abstract | ||
|---|---|---|
This paper considers the global regulation of robot manipulators without velocity measurement and proposes an adaptive controller for the case where the gravity torque presents an uncertainty. The proposed adaptive controller ensures both the semi-global convergence and the convergence of the position error to zero under actuator constraints |
Year | DOI | Venue |
|---|---|---|
2000 | 10.1109/70.833185 | Robotics and Automation, IEEE Transactions |
Keywords | Field | DocType |
Lyapunov methods,actuators,adaptive control,asymptotic stability,convergence,gradient methods,manipulator dynamics,position control,Lyapunov function,actuator constraints,adaptive control,asymptotic stability,convergence,gradient method,high pass filter,passivity,position control,robot manipulators,steady state errors | Convergence (routing),Control theory,Torque,Control theory,Position error,Control engineering,Exponential stability,Adaptive control,Robot manipulator,Mathematics,Actuator | Journal |
Volume | Issue | ISSN |
16 | 1 | 1042-296X |
Citations | PageRank | References |
22 | 1.87 | 8 |
Authors | ||
1 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Abdelhamid Laib | 1 | 22 | 1.87 |