Synthesis of adaptive controllers for robot manipulators using a passive feedback systems approach
- 6 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1028-1033 vol.2
- https://doi.org/10.1109/robot.1988.12196
Abstract
Utilizing the fact that a manipulator composed of rigid links is a passive system, an approach based on the properties of interconnected passive systems is proposed for the analysis and synthesis of fixed and adaptive controllers for robot manipulators. This approach clarifies the rationale behind the various fixed and adaptive control laws synthesized using Lyapunov functions.Keywords
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