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Adaptive hierarchical control for robotic manipulators

✍ Scribed by Yasmina Bestaoui

Publisher
Elsevier Science
Year
1988
Tongue
English
Weight
734 KB
Volume
4
Category
Article
ISSN
0921-8890

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πŸ“œ SIMILAR VOLUMES

An approach to adaptive control of robot
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Industrial robots manipulating various payloads represent non-linear and time-varying systems which should be controlled by robust adaptive controllers with self-adjustable parameters, suitable for microcomputer implementation.

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A nonlinear model reference adaptive controller based on hyperstability approach, is presented for the control of robot manipulators. Use of hyperstability approach simplifies the stability proof of the adaptive system. The unknown parameters of the system, as well as its variable payload, are estim