Adaptive path tracking control of robotic manipulators with unknown payload dynamics
| Autor: | J. N. Anderson, Y. D. Song |
|---|---|
| Rok vydání: | 1991 |
| Předmět: |
Lyapunov function
Engineering Adaptive control General Computer Science media_common.quotation_subject Stability (learning theory) Inertia Computer Science::Robotics symbols.namesake Control theory Stability theory Computer Science::Multimedia Electrical and Electronic Engineering media_common business.industry Payload Mechanical Engineering Astrophysics::Instrumentation and Methods for Astrophysics Control engineering Robotics Robot control Control and Systems Engineering Control system symbols Trajectory Robot Artificial intelligence business |
| Zdroj: | Systems & Control Letters. 17:59-70 |
| ISSN: | 0167-6911 |
| DOI: | 10.1016/0167-6911(91)90099-z |
| Popis: | In practical applications, robots are often required to handle payloads with unknown dynamics. This paper considers the path tracking control problem of a robot carrying an unknown payload. An adaptive control scheme is presented in which the uncertain dynamics of the payload is taken into account, and prior information about the payload's mass or inertia is not required. By introducing a generalized inner product, an alternative approach for stability analysis (rather than the more usual Lyapunov method) is established which proves the asymptotically stable control of the proposed strategy. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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