A discrete-time adaptive control scheme for robot manipulators

1990 ◽  
Vol 7 (2) ◽  
pp. 145-166 ◽  
Author(s):  
M. Tarokh
Keyword(s):  
Adaptive Control ◽  
Discrete Time ◽  
Robot Manipulators ◽  
Control Scheme ◽  
Adaptive Control Scheme

An adaptive control scheme for robot manipulators

1986 ◽  
Vol 44 (4) ◽  
pp. 1185-1191 ◽  
Author(s):  
Y. K. CHOI ◽  
M. J. CHUNG ◽  
Z. BIEN
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Control Scheme ◽  
Adaptive Control Scheme

A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs

Robotica ◽  
2013 ◽  
Vol 31 (7) ◽  
pp. 1103-1117 ◽  
Author(s):  
D. J. López-Araujo ◽  
A. Zavala-Río ◽  
V. Santibáñez ◽  
F. Reyes
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Experimental Results ◽  
Gravity Compensation ◽  
Adaptive Scheme ◽  
Adaptive Regulation ◽  
Control Scheme ◽  
Bounded Input ◽  
Adaptive Approaches ◽  
Adaptive Control Scheme

SUMMARYIn this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity compensation. Compared with the adaptive approaches previously developed in a bounded-input context, the proposed scheme guarantees the adaptive regulation objective: globally, avoiding discontinuities in the control expression as well as in the adaptation auxiliary dynamics, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Experimental results corroborate the efficiency of the proposed adaptive scheme.

A Discrete-Time Adaptive Control Scheme Based on Interval Persistency

2004 ◽  
Vol 37 (6) ◽  
pp. 443-448
Author(s):  
Domingos Sálvio Carrijo ◽  
Waldemar de Castro Leite Filho
Keyword(s):  
Adaptive Control ◽  
Discrete Time ◽  
Control Scheme ◽  
Adaptive Control Scheme
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