Adaptive control of robot manipulators with controller/update law modularity

Automatica

Volumn 35, Issue 8, 1999, Pages 1379-1390

  De Queiroz, M S ^a   Dawson, D M ^b   Agarwal, M ^b  

^a POLYTECHNIC UNIVERSITY   (United States)

^b Clemson University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; LEAST SQUARES APPROXIMATIONS; MANIPULATORS; NONLINEAR CONTROL SYSTEMS; PARAMETER ESTIMATION; POSITION CONTROL; SYSTEM STABILITY; TORQUE CONTROL;

ADAPTIVE LINK POSITION TRACKING CONTROLLER; CONTROL LAW; ROBOT MANIPULATORS;

ADAPTIVE CONTROL SYSTEMS;

EID: 0033177487     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0005-1098(99)00048-5     Document Type: Article

References (16)

1. Bridges, M. M., Dawson, D. M., & Abdallah, C. T. (1995). Control of rigid-link flexible-joint robots: A survey of backstepping approaches. Journal of Robotic Systems, 12(3), 199-216.
2. Craig, J. J., Hsu, P., & Sastry, S. (1986). Adaptive control of mechanical manipulators. IEEE Conference on Robotics and Automation, San Francisco, CA (pp. 190-195).
3. Desoer, C. A., & Vidyasagar, M. (1975). Feedback Systems: Input-output Properties. New York: Academic Press.
4. Direct Drive Manipulator Research and Development Package Operations Manual. (1992), Berkeley, CA: Integrated Motion Inc.
5. Kailath, T. (1980). Linear Systems. Englewood Cliffs, NJ: Prentice-Hall.
6. Kokotovic, P. (1992). The joy of feedback: Nonlinear and adaptive. IEEE Control Systems Magazine, 12, 7-17.
7. Krstic, M., & Kokotovic, P. V. (1995). Adaptive nonlinear design with controller-identifier separation and swapping. IEEE Transactions on Automatic Control, 40(3), 426-440.
8. Lewis, F. L., Abdallah, C. T., & Dawson, D. M. (1993). Control of Robot Manipulators. New York: MacMillan Publishing Co .
9. Lozano Leal, R., & Canudas De Wit, C. (1990). Passivity based adaptive control for mechanical manipulators using LS-type estimation. IEEE Transactions on Automatic Control, 35(12), 1363-1365.
10. Lozano Leal, R., & Brogliato, B. (1992). Adaptive control of robot manipulators with flexible joints. IEEE Transactions on Automatic Control, 37(2), 174-181.
11. Middleton, R. H., & Goodwin, C. G. (1988). Adaptive computed torque control for rigid link manipulators. Systems Control Letters, 10, 9-16.
12. De Queiroz, M. S., Dawson, D., & Burg, T. (1996). Reexamination of the DCAL controller for rigid link robots. Robotica, 14, 41-49.
13. Sadegh, N., & Horowitz, R. (1990). An exponentially stable adaptive control law for robot manipulators. IEEE Transactions on Robotics and Automation, 6(4), 491-496.
14. Slotine, J. J. E., & Li, W. (1991). Applied Nonlinear Control. Englewood Cliff, NJ: Prentice-Hall, Inc .
15. Tang, Y., & Arteaga, M. A. (1994). Adaptive control of robot manipulators based on passivity. IEEE Transactions on Automatic Control, 39(9), 1871-1875.
16. Vidyasagar, M. (1978). Nonlinear Systems Analysis. Englewood Cliffs, NJ: Prentice-Hall, Inc .