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Titel:

Model identification for robot manipulators using regressor-free adaptive control

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Hayat, Rameez; Buss, Martin
Seitenangaben Beitrag:
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...     »
Kongress- / Buchtitel:
UKACC 11th IEEE International Conference on Control
Ausrichter der Konferenz:
IEEE
Datum der Konferenz:
31 Aug.-2 Sept. 2016
Verlag / Institution:
IEEE
Publikationsdatum:
10.11.2016
Jahr:
2016
Jahr / Monat:
2016-08
Monat:
Aug
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1109/CONTROL.2016.7737544
Semester:
SS 16
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