Referenced Items are not available for this document.
New adaptation algorithm is presented for adaptive control of robot manipulators. The passivity property of the proposed algorithm is first established, then the stability is proved based on the passivity properties of the plant and those of the proposed algorithm. Because of the use of the past information and averaging effect, this algorithm gives a smoother tracking and parameter error and a parameter convergence under a weaker excitation condition
Published in:
Automatic Control, IEEE Transactions on
(Volume:39
,
Issue:
9
)
Date of Publication: Sep 1994
- Page(s):
- 1871 - 1875
- ISSN :
- 0018-9286
- INSPEC Accession Number:
- 4786708
- Digital Object Identifier :
- 10.1109/9.317115
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Sep 1994
- Sponsored by :
- IEEE Control Systems Society
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