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Author Arteaga, M.A. ♦ Yu Tang
Sponsorship IEEE Control Systems Society
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1963
Language English
Subject Domain (in DDC) Natural sciences & mathematics ♦ Physics ♦ Electricity & electronics
Subject Keyword Adaptive control ♦ Control systems ♦ Linear systems ♦ Automatic control ♦ Robustness ♦ Trajectory ♦ Parameter estimation ♦ Error correction ♦ Robot control ♦ Stability
Abstract By using a robust control technique, this note proposes an adaptive control for rigid robots with the following important features: under a parameter-dependent persistent excitation (PE) condition, it gives a guaranteed transient performance of tracking a smooth desired trajectory while assuring the parameter, estimation error to go to a residual set of the origin arbitrarily fast. Simulations are included to support the theoretical results.
Description Author affiliation :: DEPFI, Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
ISSN 00189286
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2002-07-01
Publisher Place U.S.A.
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Volume Number 47
Issue Number 7
Size (in Bytes) 323.02 kB
Page Count 5
Starting Page 1198
Ending Page 1202

Source: IEEE Xplore Digital Library