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New Controller Designs for Robot Manipulator Systems

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2 Author(s)
Lim, Kye Y. ; Department of Electrical Engineering, State University of New York at Stony Brook, Stony Brook, NY 11794-2350 ; Eslami, M.

Several different controllers for robot manipulator systems based on the general adaptive control theory using Lyapunov direct method are designed. Simplicities and/or complexities of these designs are described by simulation to indicate the relative importance and advantage of each design with respect to the others. A way of improving the transient response and convergence speed of a multivariable system in conjunction with this controller is established.

Published in:

American Control Conference, 1985

Date of Conference:

19-21 June 1985