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Document type:
Konferenzbeitrag 
Author(s):
Hayat, R.; Buss, M. 
Title:
Model identification for robot manipulators using regressor-free adaptive control 
Pages contribution:
1-7 
Abstract:
This paper proposes a regressor-free adaptive feedback-linearization control technique that does not require a model approximation or a regressor matrix. Adaptation in the proposed feedback process is acquired through an update law involving adjustment of less control parameters as compared to existing controllers. Under the given constraints, the closed-loop asymptotic stability of the proposed control law is verified using Lyapunov techniques. The proposed controller is compared with existing...    »
 
Book / Congress title:
UKACC 11th IEEE International Conference on Control 
Organization:
IEEE 
Date of congress:
31 Aug.-2 Sept. 2016 
Publisher:
IEEE 
Date of publication:
10.11.2016 
Year:
2016 
Year / month:
2016-08 
Month:
Aug 
Reviewed:
ja 
Language:
en 
Semester:
SS 16