Adaptive Control Design and Stability Analysis of Robotic Manipulators
نویسندگان
چکیده
منابع مشابه
Stability analysis of an adaptive controller for robotic manipulators
The stability analysis of an adaptive control scheme for robotic manipulators, originally introduced by Horowitz and Tomizuka (1980). is presented in this paper. In the previous stability proof it was assumed that the manipulator parameter variation is negligible compared with the speed of adaptation. I t is shown that this key assumption can be removed by introducing two modifications in the a...
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ژورنال
عنوان ژورنال: Actuators
سال: 2018
ISSN: 2076-0825
DOI: 10.3390/act7040089