Backstepping-based hybrid adaptive control of robot manipulators incorporating actuator dynamics

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作者：
Univ of Victoria, Victoria, Canada [1 ]
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来源：
Int J Adapt Control Signal Process | / 2卷 / 141-153期
关键词：
Actuators - Asymptotic stability - Computer simulation - Control system synthesis - Dynamics - Lyapunov methods - Manipulators - Motion planning;
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摘要：
By using the integrator backstepping technique, the control of rigid link, electrically driven robot manipulators is addressed in the presence of arbitrary uncertain manipulator inertia parameters and actuator parameters. The control scheme developed is computationally simple owing to the avoidance of the derivative computation of the regressor matrix. Semiglobal asymptotic stability of the controller is established in the Lyapunov sense. Simulation results are included to demonstrate the tracking performance.
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