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A globally convergent adaptive controller for robot manipulators

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2 Author(s)
Mahmoud, M.S. ; Dept. of Electr. & Comput. Eng., Kuwait Univ., Safat, Kuwait ; Hajeer, H.Y.

In this work, a globally convergent adaptive scheme is developed for controlling robot manipulators. Asymptotic behavior of the tracking error is established using the properties of the robot dynamics. A modified version of the controller which employs the filtered torque in its update law is also shown to have the same convergence properties

Published in:

Automatic Control, IEEE Transactions on  (Volume:39 ,  Issue: 1 )