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New class of control laws for robotic manipulators. I - Nonadaptive case. II - Adaptive caseA new class of exponentially stabilizing control laws for joint level control of robot arms is discussed. Closed-loop exponential stability has been demonstrated for both the set point and tracking control problems by a slight modification of the energy Lyapunov function and the use of a lemma which handles third-order terms in the Lyapunov function derivatives. In the second part, these control laws are adapted in a simple fashion to achieve asymptotically stable adaptive control. The analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and uses a parameterization based on physical (time-invariant) quantities.
Document ID
19880051992
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Wen, John T.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Bayard, David S.
(California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 13, 2013
Publication Date
May 1, 1988
Publication Information
Publication: International Journal of Control
Volume: 47
ISSN: 0020-7179
Subject Category
Cybernetics
Accession Number
88A39219
Distribution Limits
Public
Copyright
Other

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