Applications of the passive systems approach to the stability analysis of adaptive controllers for robot manipulators
- 1 March 1989
- journal article
- research article
- Published by Wiley in International Journal of Adaptive Control and Signal Processing
- Vol. 3 (1) , 23-38
- https://doi.org/10.1002/acs.4480030104
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 and provides new adaptation algorithms.Keywords
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