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Adaptive motion control of robot manipulators: A unified approach based on passivity
Author(s) -
Brogliato Bernard,
Landau IoanDoré,
LozanoLeal Rogelio
Publication year - 1991
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4590010305
Subject(s) - passivity , adaptive control , control theory (sociology) , robot manipulator , control engineering , computer science , robot , stability (learning theory) , motion control , exponential stability , motion (physics) , control (management) , engineering , artificial intelligence , nonlinear system , physics , quantum mechanics , machine learning , electrical engineering
This paper presents a unified approach to direct adaptive motion control laws for robot manipulators that have been studied during the last few years by several authors. It provides a general approach based on sensivity to demonstrate the global asymptotic stability of adaptive schemes applied to rigid multilinked manipulators. It is shown that most of the schemes fit within this framework, which presents the advantage of being more systematic than other techniques and therefore will enable a unified presentation of the several schemes proposed to date and will increase our understanding of adaptive control of robot manipulators.