Abstract
In this work, a robust adaptive control law for robot manipulators based on Popov hyperstability theory and a PI adaptation law is derived. The novelty of the results lies in the fact that the control offers ample flexibility in its adjustable parameters. A simulation example is given to illustrate the performance of the robust adaptive controller and the choice of control gains that yields best control performance.
| Original language | British English |
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| Pages | 103 |
| Number of pages | 1 |
| State | Published - 1997 |
| Event | Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn Duration: 16 Jun 1997 → 20 Jun 1997 |
Conference
| Conference | Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 |
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| City | Tokyo, Jpn |
| Period | 16/06/97 → 20/06/97 |