Proceedings. 1991 IEEE International Conference on Robotics and Automation
Download PDF

Abstract

A general approach to the synthesis of model reference adaptive controllers for manipulators by means of hyperstability theory is presented. The manipulator adaptive control problem is first formulated in a form suitable for the application of hyperstability theory. The control scheme consists of feedback and cascade controllers, and an auxiliary signal. A generalized adaptation algorithm is developed which offers considerable flexibility in the choice of controller structure and its adjustable parameters.<>
Like what you’re reading?
Already a member?
Get this article FREE with a new membership!

Related Articles