Adaptive PD Controller for Robot Manipulators

IEEE Transactions on Robotics and Automation

Volumn 7, Issue 4, 1991, Pages 565-570

  Tomei, Patrizio ^a  

^a UNIVERSITY OF ROME TOR VERGATA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION--APPLICATIONS; CONTROL SYSTEMS, ADAPTIVE--APPLICATIONS; CONTROL SYSTEMS, TWO TERM--APPLICATIONS; MATHEMATICAL TECHNIQUES--ALGORITHMS;

ADAPTIVE PD CONTROLLER; GLOBALLY CONVERGENT CONTROLLER; POINT-TO-POINT CONTROL PROBLEM; PROPORTIONAL/DERIVATIVE (PD) CONTROL ALGORITHM; TRACKING PROBLEMS APPLICATIONS;

ROBOTS;

EID: 0026206692     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.86088     Document Type: Article

References (9)

1. S. Arimoto and F. Miyazaki, “Stability and robustness of PID feedback control for robot manipulators of sensory capability,” in M. Brady and R. P. Paul, Eds., Robotics Research. Cambridge, MA: MIT Press, 1984.
2. S. Kawamura, F. Miyazaki, and S. Arimoto, “Is a local PD feedback control law effective for trajectory tracking of robot motion?,” presented at IEEE Int. Conf. Robotics Automat., Philadelphia, PA, Apr. 1988.
3. O. Khatib, J. J. Craig, and T. Lozano-Perez, The Robotics Review 1. Cambridge, MA: M.I.T. Press, 1989.
4. D. E. Koditschek, “Application of a new Lyapunov function to global adaptive attitude tracking,” presented at 27th IEEE Conf. Decision Control, Austin, TX, Dec. 1988.
5. J. E. Slotine and W. Li, “On the adaptive control of robot manipulators,” Int. J. Robotics Res., vol. 6, no. 3, pp. 49-59, 1987.
6. D. E. Koditschek, “Natural motion of robot arms,” presented at 23rd IEEE Conf. Decision Control, Las Vegas, NV, Dec. 1984.
7. P. Khosla and T. Kanade, “Parameter identification of robot dynamics,” presented at 24th IEEE Conf. Decision Control, Fort Lauderdale, FL, Dec. 1985.
8. W. Hahn, Stability of Motion. Berlin: Springer-Verlag, 1967.
9. V. M. Popov, Hyperstability of Control Systems. Berlin: Springer-Verlag, 1973.