@inproceedings{321195f6c63a42d39cc60c87b39bfe1c,
title = "Adaptive control of robot manipulators",
abstract = "the past, several adaptive control methods based on the computed torque schemes using the Lyapunov stability theory have been proposed. However, most of the methods proposed to date, based on the computed torque schemes, have only integral adaptive laws. This paper presents a new adaptive controller based on the computed torque schemes using Popov hyperstability theory. The manipulator adaptive control problem is first formulated in a form suitable for the application of hyperstability theory. The adaptation laws contain proportional plus integral forms. The adaptive controller takes advantage of the flexibility in the choice of the adaptive parameters. The adaptation laws guarantee globally asymptotic stability. Simulation results are presented to evaluate the performance of the adaptive controller for the two-link manipulator.",
author = "H. Yu and Seneviratne, \{L. D.\} and Earles, \{S. W.E.\}",
note = "Funding Information: 'supported by K.C.Wong Scholarship Publisher Copyright: {\textcopyright} 1992 Institute of Electrical and Electronics Engineers Inc. All rights reserved.; 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 ; Conference date: 07-07-1992 Through 10-07-1992",
year = "1992",
doi = "10.1109/IROS.1992.587350",
language = "British English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "293--298",
booktitle = "IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",
}