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Adaptive computed torque control for rigid link manipulators
Abstract
In this paper we shall examine the adaptive control of rigid link manipulator systems. We give a parameterization of a genereal rigid body which yields dynamic equations that are linear in the unknown parameters. Standard linear estimation techniques together with an adaptive computed torque control law are shown to give a globally convergent adaptive system which does not require measurements of accelerations or additional torques.
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“Nonlinear control approaches, such as computed torque [4] or backstepping [5], are able to deliver high-performance controllers for robot manipulators.”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [4]
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Adaptive manipulator control: A case study
Slotine, J.-J. E., & Li, W. (1988) · IEEE Transactions on Automatic Control · doi:10.1109/9.14411 · Cited by 1,033
Composite adaptive control of robot manipulators
Slotine, J.-J. E., & Li, W. (1989) · Automatica · doi:10.1016/0005-1098(89)90094-0 · Cited by 614
1 Adaptive Control of Robot Manipulators With Uncertain Kinematics and DynamicsPreprint
Wang, H. (2016) · Cited by 223
Instability analysis and robust adaptive control of robotic manipulators
Reed, J. S., & Ioannou, P. (1989) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.34776 · Cited by 198
SYMORO+: A system for the symbolic modelling of robots
Khalil, W., & Creusot, D. (1997) · Robotica · doi:10.1017/s0263574797000180 · Cited by 137
Metadata
- Authors
- Middletone, R., & Goodwin, G.
- Affiliations
- University of Newcastle Australia (AU)
- ORCID
- Goodwin, G.
- Venue
- 1986 25th IEEE Conference on Decision and Control
- Publisher
- IEEE
- Published
- 1986-12
- Pages
- 68-73
- ISSN
- 0191-2216 (ISSN-L)
- OpenAlex
- W2178946461
- Cited by
- 188
- References
- 0
- Citations by year
- 2026: 3 · 2025: 4 · 2024: 7 · 2023: 6 · 2022: 2 · 2021: 4 · 2020: 8 · 2019: 5 · 2018: 6 · 2017: 2 · 2016: 2 · 2015: 6 · 2014: 1 · 2013: 7
- FWCI
- 12.70
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE Conference on Decision and Control (CDC) (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Control Systems and Identification
- Keywords
- adaptive control, computed torque control, rigid-link manipulators, robot manipulators, parameter estimation, linear parameterization, global convergence
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