✦ LIBER ✦

BACKSTEPPING-BASED HYBRID ADAPTIVE CONTROL OF ROBOT MANIPULATORS INCORPORATING ACTUATOR DYNAMICS

✍ Scribed by CHUN-YI SU; YURY STEPANENKO

Publisher: John Wiley and Sons
Year: 1997
Tongue: English
Weight: 297 KB
Volume: 11
Category: Article
ISSN: 0890-6327
DOI: 10.1002/(sici)1099-1115(199703)11:2<141::aid-acs434>3.0.co;2-i

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✦ Synopsis

By using the integrator backstepping technique, the control of rigid link, electrically driven robot manipulators is addressed in the presence of arbitrary uncertain manipulator inertia parameters and actuator parameters. The control scheme developed is computationally simple owing to the avoidance of the derivative computation of the regressor matrix. Semiglobal asymptotic stability of the controller is established in the Lyapunov sense. Simulation results are included to demonstrate the tracking performance.