Comments on "Adaptive PD controller for robot manipulators
- 1 February 1993
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 9 (1) , 117-119
- https://doi.org/10.1109/70.210803
Abstract
An alternative analysis that does not invoke the LaSalle invariance principle of the PD proportional-differential controller with gravity compensation for robots, presented in the above-titled paper by P. Tomei (ibid., vol.7, no.4, p.565-70, Aug. 1991) is established. The result is used to develop straightforwardly a new PD controller with adaptive gravity compensation, and conditions to ensure closed-loop stability and global zero position error convergence are given.<>Keywords
This publication has 4 references indexed in Scilit:
- Comparative experiments with a new adaptive controller for robot armsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Adaptive PD controller for robot manipulatorsIEEE Transactions on Robotics and Automation, 1991
- A unified perspective on robot control: The energy lyapunov function approachInternational Journal of Adaptive Control and Signal Processing, 1990
- A New Feedback Method for Dynamic Control of ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1981