Study on the exponential path tracking control of robot manipulators via direct adaptive methods

doi:10.1016/0921-8890(92)90043-X

Robotics and Autonomous Systems

Volume 9, Issue 4, 1992, Pages 271-282

https://doi.org/10.1016/0921-8890(92)90043-X Get rights and content

Abstract

Exponential path tracking control represents an important issue pertaining to the transient performance of robot control systems. In this paper, the so-called Exp-transformation is applied to obtain transformed robot dynamics models which are used to derive several adaptive control algorithms that achieve exponential path tracking. In contrast to the existing composite adaptive control method; where both the tracking error and the prediction error are used and persistent excitation (p.e.) is required, the proposed strategy requires only the tracking error. This makes the control structure simpler and easier to implement. The main contribution of this paper is the development of practical control strategies for which the p.e. requirement is completely removed (as opposed to relaxing it to semi-p.e. as was done in a recent work). The fundamental idea introduced for exponential stability analysis is conceptually simple and global results are obtained.

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Adaptive computed torque control of rigid link manipulators

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Study on the exponential path tracking control of robot manipulators via direct adaptive methods

Abstract

Exponential convergence of adaptive identification and control algorithms

Automatica

Adaptive Control: Stability, Convergence and Robustness

Adaptive control of mechanical manipulators

Adaptive identification and control of manipulators without joint acceleration measurements

Adaptive motion control design of robot manipulators: An input-output approach

Synthesis of adaptive controllers for robot manipulators using a passive-feedback systems approach

Adaptive computed torque control of rigid link manipulators